Refactor CMake with JRL CMake Modules v2 by ahoarau · Pull Request #794 · coal-library/coal

ahoarau · 2025-12-11T16:32:43Z

⚠️DO NOT MERGE UNTIL jrl-umi3218/jrl-cmakemodules#798 is merged ⚠️

This PR is a full rewrite of the CMake files with the JRL CMake Modules v2.

Full rewrite of the CMake Files in modern CMake
Reorganize the tests folder
Remove submodules
c++17 minimum required
🚧 NIX CI is temporarily disabled

new method with COMPONENTS

they are now generated by jrl v2

…e commands

if we enable OCTOMAP, the library is REQUIRED. We are supposed to have it. testing is a library is available creates opacity in what we are actually building, better to enable+require, fatal_error otherwise

Boost.Test was included as a standalone library (included/unit_test.hpp), but linked against a shared_library Boost::unit_test_framework

Issues on recent clang compilers

jorisv · 2026-05-29T14:36:41Z

-          - os: "macos"
-            python-version: "3.8"  # Not available on arm64
+        os: ["ubuntu-latest", "macos-latest"]
+        python-version: ["3.10", "3.11", "3.12", "3.13"]


Suggested change

python-version: ["3.10", "3.11", "3.12", "3.13"]

python-version: ["3.10", "3.11", "3.12", "3.13", "3.14"]

jorisv · 2026-05-29T14:47:43Z

+
+    - name: Install Coal [MacOS/Linux/Windows]
+      run: |
+        pixi run -e ${{ matrix.environment }} install


Running this will rerun pixi run configure and pixi run build.
It's maybe better to directly run cmake.

jorisv · 2026-05-29T14:48:00Z

+    - name: Test Coal [MacOS/Linux/Windows]
+      if: matrix.run_tests == true
+      run: |
+        pixi run -e ${{ matrix.environment }} test


Same remark than install

jorisv · 2026-05-29T14:48:54Z

+endif()
+
+# Fallback to FetchContent if not found
+set(JRL_GIT_REPOSITORY "https://github.com/ahoarau/jrl-cmakemodules.git")


To update when jrl-next is released

jorisv · 2026-05-29T15:31:28Z

+  )
+endif()
+
+add_library(coal-hpp-fcl-compatibility INTERFACE)


compatibility layer should be named hpp-fcl::hpp-fcl. So consumer doesn't have to care about target name.

jorisv · 2026-05-29T15:34:51Z

+    $<$<BOOL:${COAL_USE_FLOAT_PRECISION}>:COAL_USE_FLOAT_PRECISION>
+    $<$<BOOL:${COAL_TURN_ASSERT_INTO_EXCEPTION}>:COAL_TURN_ASSERT_INTO_EXCEPTION>
+    $<$<BOOL:${COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL}>:COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL>
+    $<$<BOOL:${COAL_BUILD_WITH_OCTOMAP}>:COAL_HAS_OCTOMAP>


You also need to define COAL_HAVE_OCTOMAP for back compatibility

jorisv · 2026-05-29T15:36:05Z

+libboost-devel = ">=1.80.0"
+eigen = ">=3.4.0"
+eigen-abi-devel = ">=3.4.0"
+eigenpy = ">=3.7.0"


eigenpy is only needed with boost-python feature.

jorisv · 2026-05-29T15:36:56Z

+  "-S",
+  ".",
+  # Don't use standard layout because it's not well implemented on Windows
+  "-DPYTHON_STANDARD_LAYOUT=OFF",


This doesn't exist anymore.

jorisv

Bad button, I request some changes ;)

jorisv · 2026-06-02T12:28:24Z

+jrl_option(
+  BUILD_PYTHON_INTERFACE
+  "Build the Python bindings (either with Boost.Python or Nanobind)"
+  OFF
+)


This option is set to ON by default in jrl-v1

jorisv · 2026-06-02T13:13:14Z

+  set_tests_properties(
+    ${test_name}
+    PROPERTIES
+      ENVIRONMENT "PYTHONPATH=$<TARGET_FILE_DIR:${coal_python_bindings}>/.."


It's better to use ENVIRONMENT_MODIFICATION to avoid issue with some package manager or custom installation path:

ENVIRONMENT_MODIFICATION "PYTHONPATH=path_list_prepend:$<TARGET_FILE_DIR:coal_python_bindings>/.."

jorisv · 2026-06-25T07:29:54Z

-option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
-option(SUFFIX_SO_VERSION "Suffix library name with its version" OFF)
-option(
+jrl_option(COAL_INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)


This option doesn't seem to control documentation installation

jorisv · 2026-06-25T07:33:04Z

+  FALLBACK OFF
+)
+jrl_option(
+  ENABLE_PYTHON_DOXYGEN_AUTODOC


Variable is named ENABLE_DOXYGEN_AUTODOC in python/CMakeLists.txt

jorisv · 2026-06-25T07:36:16Z

+  )
+endif()
+
+add_library(coal-hpp-fcl-compatibility INTERFACE)


Compatibility layer should only be installed if COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON

jorisv · 2026-06-25T07:36:27Z

-  )
-endif(COAL_HAS_OCTOMAP)
+jrl_add_export_component(TARGETS coal NAME coal)
+jrl_add_export_component(TARGETS coal-hpp-fcl-compatibility NAME coal-hpp-fcl-compatibility)


Compatibility layer should only be installed if COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON

- Upgrade CMake build system to JRL CMake Modules v2 - Integrate cmake/get-jrl-cmakemodules.cmake downloader - Use target-based modern CMake for coal, python, python-nb, doc, and test suites - Condition coal-hpp-fcl-compatibility target, headers, and export component on COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL (fixes PR coal-library#794 review feedback) - Require C++17 minimum standard

- Upgrade CMake build system to JRL CMake Modules v2 - Integrate cmake/get-jrl-cmakemodules.cmake downloader pointing to official jrl-umi3218/jrl-cmakemodules master branch - Use target-based modern CMake for coal, python, python-nb, doc, and test suites - Condition coal-hpp-fcl-compatibility target, headers, and export component on COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL (fixes PR coal-library#794 review feedback) - Require C++17 minimum standard

ahoarau marked this pull request as draft December 11, 2025 16:39

ahoarau force-pushed the jrl-next branch 2 times, most recently from 075411a to e6124d7 Compare January 12, 2026 16:39

ahoarau force-pushed the jrl-next branch from 2e360d9 to 66896e5 Compare January 17, 2026 11:16

ahoarau force-pushed the jrl-next branch from 4d32e09 to 00e85e3 Compare February 5, 2026 18:02

ahoarau force-pushed the jrl-next branch 3 times, most recently from b8bf15e to f604bdc Compare February 20, 2026 09:38

ahoarau force-pushed the jrl-next branch from 6bfd42d to 6ad2d54 Compare April 21, 2026 20:30

ahoarau added 21 commits May 13, 2026 16:06

remove submodules

15c134d

add new options COAL_BUILD_WITH_LOGGING, QHULL and OCTOMAP

c5fd168

ignore more stuff

f74c654

simplify gersemi config, do not use custom function parsing

815f9e6

upgrade pre-commit config versions

bd604f3

update pixi.toml with new options

cc1ab37

remove hpp-fcl compat config

fdb4189

new method with COMPONENTS

set the name coal_pywrap_nb for the nanobind python module

1f3d06b

remove __init__.py and windows_dll_manager.py

84cf386

they are now generated by jrl v2

reorder tests in cpp and python folders

a877d82

rewrite CMake files with JRL CMake Modules v2

13c6fdf

intregrate get-jrl-cmakemodules.cmake

6f8bb0b

update jrl link to use jrl-cmakemodules fork

28ca7bc

macos-linux-pip.yml: remove submodule

eaaeb5f

add test-import-python and separate test-packaging in separate privat…

d1329bc

…e commands

require jrl-cmakemodules version 2.0.0

5950651

include stubs pyi files in the installation

ab2ee8d

changelog: add jrl v2 entry

3f3281b

fix option name being COAL_BUILD_WITH_OCTOMAP not COAL_HAS_OCTOMAP

39e042e

if we enable OCTOMAP, the library is REQUIRED. We are supposed to have it. testing is a library is available creates opacity in what we are actually building, better to enable+require, fatal_error otherwise

remove useless _USE_MATH_DEFINES

eabc4c8

use correct boost unit test headers to fix double-free issue

19c58e5

Boost.Test was included as a standalone library (included/unit_test.hpp), but linked against a shared_library Boost::unit_test_framework

ahoarau added 13 commits May 13, 2026 16:18

cmake: require jrl >=1.2 to get the jrl-v2

9acb921

cmake: update python and nanobind min required

e30133f

pixi: update min python version

1452b59

pixi: add cxx-compiler to pixi-build feature

8653335

ci: remove python <3.10 support

a88f68f

ci: remove useless exclude < 3.8

7b824ad

cmake: include project version in config header generation

be28bf4

pixi: add eigen-abi-devel

a8e0ec5

pixi: limit clang to 22 (windows limitation)

d1a25a6

cmake: update from upstream (boost span)

bd590ad

tests: move cpp tests to cpp

8ece912

alloca: WIN32 -> _WIN32

bd6160d

Issues on recent clang compilers

tests: fix crash by using proper unit test headers

8eb3352

ahoarau force-pushed the jrl-next branch from d1e284b to 8eb3352 Compare May 13, 2026 14:19

pixi: update lock file

8a0a46b

jorisv approved these changes May 29, 2026

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jorisv requested changes May 29, 2026

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jorisv reviewed Jun 2, 2026

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apply dos2unix

2dc60dc

jorisv mentioned this pull request Jun 17, 2026

CMakeLists: Missing "COMPONENTS" in ADD_PROJECT_DEPENDENCY(Boost REQUIRED serializiation filesystem) #867

Closed

nicolasWDC mentioned this pull request Jun 22, 2026

C++17 : Remove dependency to boost::filesystem #868

Open

jorisv reviewed Jun 25, 2026

View reviewed changes

jorisv requested changes Jun 25, 2026

View reviewed changes

	python-version: ["3.10", "3.11", "3.12", "3.13"]
	python-version: ["3.10", "3.11", "3.12", "3.13", "3.14"]

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ahoarau commented Dec 11, 2025 •

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