使用boost::python时，cmakelist文件的配置方法

最新推荐文章于 2024-03-10 08:47:14 发布

XJ_75

最新推荐文章于 2024-03-10 08:47:14 发布

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文章标签： python 开发语言

本文链接：https://blog.csdn.net/XJ_75/article/details/131416598

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python调用c++

cmake_minimum_required(VERSION 3.0.2)
project(drl_dwa)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  geometry_msgs
  nav_msgs
  std_msgs
  sensor_msgs
)

# 寻找Boost库
find_package(Boost REQUIRED COMPONENTS python)
find_package(PythonLibs REQUIRED)

# 添加头文件路径
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${PYTHON_INCLUDE_DIRS}
)

# 添加链接库路径
link_directories(
  ${catkin_LIBRARY_DIRS}
  ${Boost_LIBRARY_DIRS}
)

# 生成共享库
add_library(DWAPlanner SHARED src/DRL_dwa.cpp)

# 链接Boost和Python库
target_link_libraries(DWAPlanner ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES})

# 输出共享库文件
set_target_properties(DWAPlanner PROPERTIES
  LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}
)

# 设置编译选项
set_target_properties(DWAPlanner PROPERTIES PREFIX "")
set_target_properties(DWAPlanner PROPERTIES OUTPUT_NAME "DDQN")

# 添加编译选项
add_definitions(-DBOOST_PYTHON_STATIC_LIB)

# 添加链接选项
if(WIN32)
  set_target_properties(DWAPlanner PROPERTIES SUFFIX ".pyd")
else()
  set_target_properties(DWAPlanner PROPERTIES SUFFIX ".so")
endif()

# 安装共享库
install(TARGETS DWAPlanner
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

set_target_properties(DWAPlanner PROPERTIES
    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/scripts
    LIBRARY_OUTPUT_NAME DWAPlanner
)

c++调用python


cmake_minimum_required(VERSION 3.0.2)
project(drl_dwa)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
# set(PYTHON_EXECUTABLE "/home/xj/anaconda3/envs/RL/bin/python3")  
# set(PYTHON_PATH "/home/xj/DRL_DWA_git/DWA_ws/src/drl_dwa/scripts")

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  geometry_msgs
  nav_msgs
  std_msgs
  sensor_msgs
)

# Set the path to Boost
set(Boost_INCLUDE_DIRS /usr/include)
set(Boost_LIBRARY_DIRS /usr/lib/x86_64-linux-gnu)

# Find Boost libraries
find_package(Boost REQUIRED COMPONENTS python)
find_package(PythonLibs REQUIRED)

# Add the include directories
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${PYTHON_INCLUDE_DIRS}
)

# Add the linker directories
link_directories(
  ${catkin_LIBRARY_DIRS}
  ${Boost_LIBRARY_DIRS}
)

catkin_package(
  CATKIN_DEPENDS roscpp rospy geometry_msgs nav_msgs sensor_msgs std_msgs
  INCLUDE_DIRS include
)

# Add the Python bindings library
add_library(DRL_dwa SHARED src/DRL_dwa.cpp)

add_executable(DRL_dwa_node src/DRL_dwa.cpp)
target_link_libraries(DRL_dwa_node DRL_dwa ${catkin_LIBRARIES} ${Boost_LIBRARIES})
target_include_directories(DRL_dwa_node PRIVATE ${PYTHON_PATH})

# Install the Python bindings library
install(TARGETS DRL_dwa_node
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

# Install the Python module
install(DIRECTORY src/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.py"
)


include_directories(${PYTHON_INCLUDE_DIRS})
target_link_libraries(DRL_dwa_node ${PYTHON_LIBRARIES})

find_library(BOOST_PYTHON_LIBRARIES NAMES boost_python38)
if(BOOST_PYTHON_LIBRARIES)
  target_link_libraries(DRL_dwa_node ${BOOST_PYTHON_LIBRARIES})
endif()