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Makefile.am
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Makefile.am
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AM_CPPFLAGS = -I$(top_srcdir)/include -I$(top_builddir)/include
ACLOCAL_AMFLAGS = -I m4
bin_PROGRAMS =
bin_SCRIPTS =
dist_bin_SCRIPTS =
noinst_PROGRAMS =
lib_LTLIBRARIES =
EXTRA_DIST =
####################
## Shared Library ##
####################
lib_LTLIBRARIES += libtmsmt.la
libtmsmt_la_SOURCES = \
src/planfile.c \
src/tmplan.c
EXTRA_DIST += src/planfile.l
src/planfile.c: src/planfile.l
$(LEX) -t $(top_srcdir)/src/planfile.l > src/planfile.c
EXTRA_DIST += include/tmsmt/tmplan.h \
include/tmsmt/tmplan_internal.h
###############
## Lisp Core ##
###############
bin_PROGRAMS += tmsmt.core
tmsmt_core_SOURCES = \
build.lisp \
load.lisp \
lisp/package.lisp \
lisp/grovel.lisp \
lisp/util.lisp \
lisp/smtlib.lisp \
lisp/smtrun.lisp \
lisp/expression.lisp \
lisp/pddl.lisp \
lisp/pddl-cgen.lisp \
lisp/planner.lisp \
lisp/tm-plan.lisp \
lisp/genscene.lisp \
lisp/placement-graph.lisp \
lisp/motion-plan.lisp \
lisp/m-actions.lisp \
lisp/itmp-rec.lisp \
lisp/driver.lisp \
lisp/foreign-tmplan.lisp \
lisp/python/tmsmtpy.lisp \
lisp/tmsmt.asd
nodist_tmsmt_core_SOURCES = \
$(top_builddir)/lisp/dir.lisp \
$(top_builddir)/lisp/config.lisp
$(top_builddir)/lisp/dir.lisp: configure Makefile
echo "(in-package :tmsmt) " > lisp/dir.lisp
echo "(defparameter *libdir* (pathname \"${libdir}/\"))" >> lisp/dir.lisp
echo "(defparameter *builddir* (pathname \"${top_builddir}/\"))" >> lisp/dir.lisp
echo "(defparameter *srcdir* (pathname \"${top_srcdir}/\"))" >> lisp/dir.lisp
echo "(defparameter *abs-builddir* (pathname \"${abs_top_builddir}/\"))" >> lisp/dir.lisp
echo "(defparameter *abs-srcdir* (pathname \"${abs_top_srcdir}/\"))" >> lisp/dir.lisp
tmsmt.core$(EXEEXT): $(tmsmt_core_SOURCES) $(nodist_tmsmt_core_SOURCES) libtmsmt.la
$(MKDIR_P) lisp/python/
if test "x$(top_srcdir)" != "x$(top_builddir)"; then \
for i in $(tmsmt_core_SOURCES); \
do \
cp -v "$(top_srcdir)/$$i" "$(top_builddir)/$$i"; \
done; \
fi
top_srcdir=$(top_srcdir) \
top_builddir=$(top_builddir) \
LD_LIBRARY_PATH=.libs:$(LD_LIBRARY_PATH) \
$(AARX_CORE) --script $(top_srcdir)/build.lisp
dist_bin_SCRIPTS += src/tmsmt
noinst_PROGRAMS += planfile_test
planfile_test_SOURCES = src/tmplan_test.c
planfile_test_LDADD = libtmsmt.la
noinst_PROGRAMS += demo/tmpexec
demo_tmpexec_SOURCES = demo/tmpexec.c
demo_tmpexec_LDADD = libtmsmt.la -lm -lamino-gl -lamino-collision
demo_tmpexec_CFLAGS = $(SDL2_CFLAGS) -lpthread
###################
## Documentation ##
###################
EXTRA_DIST += doc.lisp
EXTRA_DIST += py-api.md lisp-api.md
if HAVE_DOXYGEN
py-api.md: tmsmt.core $(top_srcdir)/doc.lisp
LD_LIBRARY_PATH=.libs:$(LD_LIBRARY_PATH) \
top_srcdir=$(top_srcdir) \
top_builddir=$(top_builddir) \
./tmsmt.core \
--eval "(load \"$(top_srcdir)/doc.lisp\")" \
--eval '(sb-ext:quit)'
lisp-api.md: py-api.md
doxygen: py-api.md lisp-api.md doc/md/copying.md doc/md/mainpage.md doc/md/authors.md Doxyfile
$(DOXYGEN)
doc/md/copying.md: $(top_srcdir)/COPYING $(top_srcdir)/doc/md/copying.md.header
$(MKDIR_P) doc/md/
cat $(top_srcdir)/doc/md/copying.md.header \
$(top_srcdir)/COPYING \
> doc/md/copying.md
doc/md/authors.md: $(top_srcdir)/AUTHORS $(top_srcdir)/doc/md/authors-head.md
$(MKDIR_P) doc/md/
cat $(top_srcdir)/doc/md/authors-head.md \
$(top_srcdir)/AUTHORS \
> doc/md/authors.md
doc/manual: doxygen
doc: doxygen
else
doc/manual:
mkdir doc/manual
endif
if HAVE_HELP2MAN
EXTRA_DIST += doc/tmsmt.1
doc/tmsmt.1: tmsmt src/tmsmt configure.ac tmsmt.core$(EXEEXT)
$(MKDIR_P) doc
$(HELP2MAN) --version-option=--version-man --no-info -n "Task-Motion Planner" $(top_builddir)/tmsmt -o $@
if HAVE_GROFF
EXTRA_DIST += doc/manual/man_tmsmt.html
doc/manual/man_tmsmt.html: doc/tmsmt.1
$(MKDIR_P) doc/manual
$(GROFF) -mandoc -Thtml < doc/tmsmt.1 > doc/manual/man_tmsmt.html
doxygen: doc/manual/man_tmsmt.html
endif
endif
sync-doc:
rsync -r doc/manual/ tmkit.kavrakilab.org:/srv/www/tmkit
EXTRA_DIST += doc/md/mainpage.md \
doc/md/command.md \
doc/md/copying.md.header \
doc/md/authors-head.md \
doc/md/semantics.md \
doc/md/foot.html \
doc/md/head.html \
doc/md/install.md \
doc/md/planfile.md \
doc/md/tutorial.md \
doc/md/citations.md \
doc/md/ReadMe.md \
doc/header.html \
doc/footer.html \
doc/manual
clean-local:
-rm -rf doc/manual/ doc/doxygen_sqlite3.db
distclean-local:
-rm -rf py-api.md lisp-api.md doc/tmsmt.1 doc/md/authors.md doc/md/copying.md
if test "x$(top_srcdir)" != "x$(top_builddir)"; then \
rm -rf $(top_builddir)/lisp build.lisp load.lisp; \
fi
###########
## Demos ##
###########
EXTRA_DIST += demo/baxter-sussman/allowed-collision.robray \
demo/baxter-sussman/run.lisp \
demo/baxter-sussman/sussman-1.robray \
demo/baxter-sussman/table.robray \
demo/baxter-sussman/class.robray \
demo/baxter-sussman/sussman-0.robray \
demo/domains/blocksworld/blocks-domain.pddl \
demo/domains/blocksworld/tm-blocks.pddl \
demo/domains/blocksworld/tm-sussman.pddl \
demo/domains/blocksworld/sussman-anomaly.pddl \
demo/domains/blocksworld/tm-blocks.py \
demo/domains/blocksworld/tm-blocks-safety.pddl \
demo/domains/blocksworld/blocks-safety-goal.pddl \
demo/domains/linear-blocksworld/linear-blocksworld.pddl \
demo/domains/linear-blocksworld/linear-blocksworld.py
if BUILD_DEMO_BAXTER
demo/baxter-model.c: $(top_srcdir)/demo/baxter-sussman/allowed-collision.robray
aarxc 'package://baxter_description/urdf/baxter.urdf' \
$(top_srcdir)/demo/baxter-sussman/allowed-collision.robray \
-o demo/baxter-model.c -n "baxter"
lib_LTLIBRARIES += demo/tmkit-baxter-model.la
demo_tmkit_baxter_model_la_SOURCES = demo/baxter-model.c
demo_tmkit_baxter_model_la_LDFLAGS = -avoid-version -module -shared -export-dynamic
endif # BUILD_DEMO_BAXTER
demo/sussman-scene.c:
aarxc $(top_srcdir)/demo/baxter-sussman/sussman-0.robray \
-o demo/sussman-scene.c -n "sussman"
lib_LTLIBRARIES += demo/tmkit-sussman-scene.la
demo_tmkit_sussman_scene_la_SOURCES = demo/sussman-scene.c
demo_tmkit_sussman_scene_la_LDFLAGS = -avoid-version -module -shared -export-dynamic