Switch to ignition-math4.

This is going to be needed to move to newer versions of ignition libraries, newer sdformat, and for delphyne going forward. While we are at it, make ignition-math a shared library. Signed-off-by: Chris Lalancette <[email protected]>
RobotLocomotion · Dec 20, 2017 · 3f91c0a · 3f91c0a
1 parent bc84e73
commit 3f91c0a
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Showing 7 changed files with 74 additions and 51 deletions.
diff --git a/WORKSPACE b/WORKSPACE
@@ -408,9 +408,9 @@ new_local_repository(
 bitbucket_archive(
     name = "ignition_math",
     repository = "ignitionrobotics/ign-math",
-    commit = "ignition-math3_3.2.0",
-    sha256 = "1948c1610fa4403bce7ba2a262a29662990ee66aab00882411a0868afe0e5309",  # noqa
-    strip_prefix = "ignitionrobotics-ign-math-e86e5bb392e4",
+    commit = "392237e10ba4",
+    sha256 = "44068bb91c07c9305213057cad801ae5b689ac1a5f37cd8330dd6e729df8f5b0",  # noqa
+    strip_prefix = "ignitionrobotics-ign-math-392237e10ba4",
     build_file = "tools/workspace/ignition_math/ignition_math.BUILD.bazel",
 )
 

diff --git a/tools/install/libdrake/BUILD.bazel b/tools/install/libdrake/BUILD.bazel
@@ -124,6 +124,7 @@ cc_library(
         ":mosek_deps",
         ":vtk_deps",
         "@bullet//:BulletCollision",
+        "@ignition_math",
         "@lcm",
         "@libprotobuf",
         "@scs//:scsdir",

diff --git a/tools/install/libdrake/drake.cps b/tools/install/libdrake/drake.cps
@@ -40,9 +40,9 @@
       "Hints": ["@prefix@/lib/cmake/gflags"],
       "X-CMake-Find-Args": ["CONFIG"]
     },
-    "ignition-math3": {
-      "Version": "3.2.0",
-      "Hints": ["@prefix@/lib/cmake/ignition-math3"],
+    "ignition-math4": {
+      "Version": "4.0.0",
+      "Hints": ["@prefix@/lib/cmake/ignition-math4"],
       "X-CMake-Find-Args": ["CONFIG"]
     },
     "ignition-rndf0": {
@@ -112,7 +112,7 @@
         "Bullet:BulletCollision",
         "Eigen3:Eigen",
         "fcl:fcl",
-        "ignition-math3:ignition-math3",
+        "ignition-math4:ignition-math4",
         "ignition-rndf0:ignition-rndf0",
         "lcm:lcm",
         "optitrack:lcmtypes_optitrack-cpp",

diff --git a/tools/workspace/ignition_math/ignition_math-create-cps.py b/tools/workspace/ignition_math/ignition_math-create-cps.py
@@ -2,19 +2,19 @@
 
 from drake.tools.install.cpsutils import read_version_defs
 
-def_re = "#define IGNITION_MATH_VERSION_FULL[\s]\"([0-9]+).([0-9]+).([0-9]+)\""
+def_re = "#define IGNITION_MATH_VERSION_FULL[\s]\"([0-9]+).([0-9]+).([0-9]+).*\""
 defs = read_version_defs(def_re)
 
 content = """
 {
   "Cps-Version": "0.8.0",
-  "Name": "ignition-math3",
+  "Name": "ignition-math4",
   "Description": "Math classes and functions for robot applications",
   "License": "Apache-2.0",
   "Version": "%(VERSION_MAJOR)s.%(VERSION_MINOR)s.%(VERSION_PATCH)s",
-  "Default-Components": [ ":ignition-math3" ],
+  "Default-Components": [ ":ignition-math4" ],
   "Components": {
-    "ignition-math3": {
+    "ignition-math4": {
       "Type": "dylib",
       "Location": "@prefix@/lib/libignition_math.so",
       "Includes": [ "@prefix@/include" ]

diff --git a/tools/workspace/ignition_math/ignition_math.BUILD.bazel b/tools/workspace/ignition_math/ignition_math.BUILD.bazel
@@ -18,33 +18,44 @@ load(
     "install",
     "install_cmake_config",
 )
+load("@drake//tools/workspace:generate_file.bzl", "generate_file")
 
 package(default_visibility = ["//visibility:public"])
 
 # Generates config.hh based on the version numbers in CMake code.
 cmake_configure_file(
     name = "config",
-    src = "cmake/config.hh.in",
+    src = "include/ignition/math/config.hh.in",
     out = "include/ignition/math/config.hh",
     cmakelists = ["CMakeLists.txt"],
     defines = [
-        # It would be nice to get this information directly from
-        # CMakeLists.txt, but it ends up being too hard.  ignition-math sets a
-        # project name as "ignition-math<version>", and then uses CMake
-        # substring to pick that version out.  We'd have to extend the
-        # cmake_configure_file functionality to do the same, and I'm not sure
-        # it is worth it.  We just hard code the major version here.
+        "PROJECT_MAJOR_VERSION=4",
+        "PROJECT_MINOR_VERSION=0",
+        "PROJECT_PATCH_VERSION=0",
+        "PROJECT_VERSION=4.0",
+        "PROJECT_VERSION_FULL=4.0.0~pre3",
         "PROJECT_NAME_NO_VERSION=ignition-math",
-        "PROJECT_MAJOR_VERSION=3",
-        "PROJECT_VERSION_FULL=3.2.0",
     ],
     visibility = ["//visibility:private"],
 )
 
-public_headers = [
+generate_file(
+    name = "export_genrule",
+    out = "include/ignition/math/Export.hh",
+    content = """
+#pragma once
+
+#define IGNITION_MATH_VISIBLE __attribute__ ((visibility("default")))
+#define IGN_DEPRECATED(version) __attribute__ ((__deprecated__))
+    """,
+    visibility = ["//visibility:private"],
+)
+
+public_headers_no_gen = [
     "include/ignition/math/Angle.hh",
     "include/ignition/math/Box.hh",
     "include/ignition/math/Color.hh",
+    "include/ignition/math/Export.hh",
     "include/ignition/math/Filter.hh",
     "include/ignition/math/Frustum.hh",
     "include/ignition/math/Helpers.hh",
@@ -66,24 +77,27 @@ public_headers = [
     "include/ignition/math/SignalStats.hh",
     "include/ignition/math/SphericalCoordinates.hh",
     "include/ignition/math/Spline.hh",
-    "include/ignition/math/System.hh",
     "include/ignition/math/Temperature.hh",
     "include/ignition/math/Triangle.hh",
     "include/ignition/math/Triangle3.hh",
     "include/ignition/math/Vector2.hh",
     "include/ignition/math/Vector3.hh",
     "include/ignition/math/Vector3Stats.hh",
     "include/ignition/math/Vector4.hh",
+    "include/ignition/math/graph/Edge.hh",
+    "include/ignition/math/graph/GraphAlgorithms.hh",
+    "include/ignition/math/graph/Graph.hh",
+    "include/ignition/math/graph/Vertex.hh",
 ]
 
 private_headers = [
-    "include/ignition/math/BoxPrivate.hh",
-    "include/ignition/math/FrustumPrivate.hh",
-    "include/ignition/math/KmeansPrivate.hh",
-    "include/ignition/math/RotationSplinePrivate.hh",
-    "include/ignition/math/SignalStatsPrivate.hh",
-    "include/ignition/math/SplinePrivate.hh",
-    "include/ignition/math/Vector3StatsPrivate.hh",
+    "src/BoxPrivate.hh",
+    "src/FrustumPrivate.hh",
+    "src/KmeansPrivate.hh",
+    "src/RotationSplinePrivate.hh",
+    "src/SignalStatsPrivate.hh",
+    "src/SplinePrivate.hh",
+    "src/Vector3StatsPrivate.hh",
 ]
 
 # Generates math.hh, which consists of #include statements for all of the
@@ -93,22 +107,25 @@ private_headers = [
 drake_generate_include_header(
     name = "mathhh_genrule",
     out = "include/ignition/math.hh",
-    hdrs = [":config"] + public_headers,
+    hdrs = public_headers_no_gen + ["include/ignition/math/config.hh"],
 )
 
 check_lists_consistency(
-    file_list = private_headers + public_headers,
+    file_list = private_headers + public_headers_no_gen,
     glob = ["include/**/*.hh"],
 )
 
+public_headers = public_headers_no_gen + [
+    "include/ignition/math/config.hh",
+    "include/ignition/math.hh",
+]
+
 # Generates the library exported to users.  The explicitly listed srcs= matches
 # upstream's explicitly listed sources plus private headers.  The explicitly
 # listed hdrs= matches upstream's public headers.
-cc_library(
-    name = "ignition_math",
+cc_binary(
+    name = "libignition_math.so",
     srcs = [
-        "include/ignition/math.hh",
-        "include/ignition/math/config.hh",  # created above
         "src/Angle.cc",
         "src/Box.cc",
         "src/Color.cc",
@@ -126,13 +143,21 @@ cc_library(
         "src/SplinePrivate.cc",
         "src/Temperature.cc",
         "src/Vector3Stats.cc",
-    ] + private_headers,
+    ] + private_headers + public_headers,
+    includes = ["include"],
+    linkshared = 1,
+    visibility = [],
+)
+
+cc_library(
+    name = "ignition_math",
+    srcs = ["libignition_math.so"],
     hdrs = public_headers,
     includes = ["include"],
     visibility = ["//visibility:public"],
 )
 
-CMAKE_PACKAGE = "ignition-math3"
+CMAKE_PACKAGE = "ignition-math4"
 
 cmake_config(
     package = CMAKE_PACKAGE,
@@ -146,11 +171,8 @@ install_cmake_config(package = CMAKE_PACKAGE)
 install(
     name = "install",
     workspace = CMAKE_PACKAGE,
-    targets = [":ignition_math"],
-    hdrs = public_headers + [
-        ":config",
-        ":mathhh_genrule",
-    ],
+    targets = [":libignition_math.so"],
+    hdrs = public_headers,
     hdr_strip_prefix = ["include"],
     docs = [
         "COPYING",

diff --git a/tools/workspace/ignition_rndf/ignition_rndf-create-cps.py b/tools/workspace/ignition_rndf/ignition_rndf-create-cps.py
@@ -14,9 +14,9 @@
   "License": "Apache-2.0",
   "Version": "%(MAJOR_VERSION)s.%(MINOR_VERSION)s.%(PATCH_VERSION)s",
   "Requires": {
-    "ignition-math3": {
-      "Version": "%(ignition-math3_VERSION)s",
-      "Hints": ["@prefix@/lib/cmake/ignition-math3"],
+    "ignition-math4": {
+      "Version": "%(ignition-math4_VERSION)s",
+      "Hints": ["@prefix@/lib/cmake/ignition-math4"],
       "X-CMake-Find-Args": [ "CONFIG" ]
     }
   },
@@ -26,7 +26,7 @@
       "Type": "dylib",
       "Location": "@prefix@/lib/libignition_rndf.so",
       "Includes": [ "@prefix@/include" ],
-      "Requires": [ "ignition-math3:ignition-math3" ]
+      "Requires": [ "ignition-math4:ignition-math4" ]
     }
   }
 }

diff --git a/tools/workspace/sdformat/sdformat-create-cps.py b/tools/workspace/sdformat/sdformat-create-cps.py
@@ -18,10 +18,10 @@
       "Version": "1.58",
       "X-CMake-Find-Args": ["MODULE"]
     },
-    "ignition-math3": {
-      "Version": "%(ignition-math3_VERSION)s",
-      "Hints": ["@prefix@/lib/cmake/ignition-math3"],
-      "X-CMake-Find-Args": ["CONFIG"]
+    "ignition-math4": {
+      "Version": "%(ignition-math4_VERSION)s",
+      "Hints": ["@prefix@/lib/cmake/ignition-math4"],
+      "X-CMake-Find-Args": [ "CONFIG" ]
     }
   },
   "Default-Components": [ ":sdformat" ],
@@ -33,7 +33,7 @@
       "Link-Flags": ["-ltinyxml"],
       "Requires": [
         "Boost:boost",
-        "ignition-math3:ignition-math3"
+        "ignition-math4:ignition-math4"
       ]
     }
   }