Merge branch 'devel' into feature-cartesian-state

Author: brendanburkhart

CMakeLists.txt

@@ -443,13 +443,9 @@ if (CISST_cisstOSAbstraction OR CISST_cisstInteractive)
   endif (CMAKE_DL_LIBS)
 endif (CISST_cisstOSAbstraction OR CISST_cisstInteractive)
 
-# If cisstInteractive in turned on, also force SWIG for Python and shared libraries
-if (CISST_cisstInteractive)
-  set (CISST_HAS_SWIG_PYTHON ON CACHE BOOL "Build the Python wrappers for cisst with Swig." FORCE)
-endif (CISST_cisstInteractive)
-if (CISST_HAS_SWIG_PYTHON)
+if (CISST_HAS_SWIG_PYTHON OR CISST_cisstInteractive)
   set (CISST_BUILD_SHARED_LIBS ON CACHE BOOL "Build cisst with shared libraries." FORCE)
-endif (CISST_HAS_SWIG_PYTHON)
+endif (CISST_HAS_SWIG_PYTHON OR CISST_cisstInteractive)
 
 
 # List of libraries to be built
@@ -492,8 +488,12 @@ if (CISST_HAS_FLTK)
   set (CISST_SETTINGS ${CISST_SETTINGS} cisstFLTK)
 endif (CISST_HAS_FLTK)
 
-if (CISST_HAS_SWIG_PYTHON)
+if (CISST_HAS_SWIG_PYTHON OR CISST_cisstInteractive)
   set (CISST_SETTINGS ${CISST_SETTINGS} cisstPython)
+endif (CISST_HAS_SWIG_PYTHON OR CISST_cisstInteractive)
+
+if (CISST_HAS_SWIG_PYTHON)
+  set (CISST_SETTINGS ${CISST_SETTINGS} cisstSWIG)
 endif (CISST_HAS_SWIG_PYTHON)
 
 if (CISST_HAS_OPENGL)

cisst-dependencies/CMakeLists.txt

@@ -224,6 +224,7 @@ endif (CISST_HAS_FLTK)
 # Wrapping with swig for Python
 option (CISST_HAS_SWIG_PYTHON "Build the Python wrappers for cisst with Swig." OFF)
 mark_as_advanced (CISST_HAS_SWIG_PYTHON)
+
 if (CISST_HAS_SWIG_PYTHON)
   # Find Swig
   set (CISST_SWIG_REQUIRED_VERSION 1.3.36)
@@ -237,12 +238,16 @@ if (CISST_HAS_SWIG_PYTHON)
     include (${SWIG_USE_FILE})
     # save SWIG settings
     set (CISST_SWIG_PACKAGE "SWIG")
-    cisst_set_package_settings (cisstPython SWIG PACKAGES    CISST_SWIG_PACKAGE)
-    cisst_set_package_settings (cisstPython SWIG CMAKE_FILES SWIG_USE_FILE)
+    cisst_set_package_settings (cisstSWIG SWIG PACKAGES    CISST_SWIG_PACKAGE)
+    cisst_set_package_settings (cisstSWIG SWIG CMAKE_FILES SWIG_USE_FILE)
     # propagate the fact that SWIG was found
     set (CISST_SWIG_FOUND 1 PARENT_SCOPE)
   endif (${SWIG_VERSION} VERSION_LESS ${CISST_SWIG_REQUIRED_VERSION})
+else (CISST_HAS_SWIG_PYTHON)
+  cisst_unset_all_package_settings (cisstSWIG SWIG)
+endif (CISST_HAS_SWIG_PYTHON)
 
+if (CISST_HAS_SWIG_PYTHON OR CISST_cisstInteractive)
   # Force to use exceptions
   set (CISST_CMN_THROW_DOES_ABORT OFF CACHE BOOL "cmnThrow uses abort() instead of throw" FORCE)
   set (CISST_CMN_ASSERT_THROWS_EXCEPTION ON CACHE BOOL "CMN_ASSERT throws an exception instead of abort" FORCE)
@@ -258,7 +263,7 @@ if (CISST_HAS_SWIG_PYTHON)
 
   set (Python_EXECUTABLE ${Python_EXECUTABLE} PARENT_SCOPE)
   set (PYTHON_ALL_INCLUDE_DIRS ${Python_INCLUDE_DIRS} ${Python_NumPy_INCLUDE_DIRS})
-  cisst_set_package_settings (cisstPython Python INCLUDE_DIRECTORIES PYTHON_ALL_INCLUDE_DIRS) 
+  cisst_set_package_settings (cisstPython Python INCLUDE_DIRECTORIES PYTHON_ALL_INCLUDE_DIRS)
   set (PYTHON_ALL_LIBRARIES ${Python_LIBRARIES})
   cisst_set_package_settings (cisstPython Python LIBRARIES PYTHON_ALL_LIBRARIES)
 
@@ -275,11 +280,11 @@ if (CISST_HAS_SWIG_PYTHON)
              COMPONENT cisstCommon)
   endif (NOT ${SWIG_VERSION} VERSION_LESS ${CISST_SWIG_REQUIRED_VERSION})
 
-else (CISST_HAS_SWIG_PYTHON)
+else (CISST_HAS_SWIG_PYTHON OR CISST_cisstInteractive)
   # propagate the fact that SWIG was not found
   set (CISST_SWIG_FOUND 0 PARENT_SCOPE)
   cisst_unset_all_package_settings (cisstPython Python)
-endif (CISST_HAS_SWIG_PYTHON)
+endif (CISST_HAS_SWIG_PYTHON OR CISST_cisstInteractive)
 
 
 # Support for cisstCommonXML, just to see what is available

cisstInteractive/code/CMakeLists.txt

@@ -43,7 +43,7 @@ cisst_set_directories (cisstPython)
 cisst_add_library (LIBRARY cisstInteractive
                    FOLDER cisstInteractive
                    DEPENDENCIES ${DEPENDENCIES}
-                   SETTINGS     cisstPython
+		   SETTINGS cisstPython
                    SOURCE_FILES ${SOURCE_FILES}
                    HEADER_FILES ${HEADER_FILES}
                    ADDITIONAL_SOURCE_FILES ${ADDITIONAL_SOURCE_FILES}

cisstVector/vctFixedStrideMatrixIterator.h

@@ -6,8 +6,7 @@
   Author(s):  Ofri Sadowsky, Anton Deguet
   Created on: 2003-09-30
 
-  (C) Copyright 2003-2013 Johns Hopkins University (JHU), All Rights
-  Reserved.
+  (C) Copyright 2003-2025 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -87,8 +86,7 @@ no warranty.  The complete license can be found in license.txt and
   the same expression.
 */
 template <class _elementType, vct::stride_type _columnStride, vct::size_type _numColumns, vct::stride_type _rowStride>
-class vctFixedStrideMatrixConstIterator:
-    public std::iterator<std::random_access_iterator_tag, _elementType>
+class vctFixedStrideMatrixConstIterator
 {
 public:
     /* define most types from vctContainerTraits */
@@ -97,12 +95,9 @@ class vctFixedStrideMatrixConstIterator:
     /*! The type of the iterator itself. */
     typedef vctFixedStrideMatrixConstIterator<_elementType, _columnStride, _numColumns, _rowStride> ThisType;
 
-    /*! Base type for this iterator, i.e. std::iterator. */
-    typedef std::iterator<std::random_access_iterator_tag, _elementType> BaseType;
-
     /*! Type (i.e. category) of iterator,
       i.e. std::random_access_iterator_tag. */
-    typedef typename BaseType::iterator_category iterator_category;
+    typedef typename std::random_access_iterator_tag iterator_category;
 
     enum {COL_STRIDE = _columnStride, ROW_STRIDE = _rowStride};
     enum {NUM_COLUMNS = _numColumns};

cisstVector/vctFixedStrideVectorIterator.h

@@ -6,8 +6,7 @@
   Author(s):  Ofri Sadowsky, Anton Deguet
   Created on: 2003-09-30
 
-  (C) Copyright 2003-2013 Johns Hopkins University (JHU), All Rights
-  Reserved.
+  (C) Copyright 2003-2025 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -59,8 +58,7 @@ no warranty.  The complete license can be found in license.txt and
   \sa vctFixedStrideVectorIterator
 */
 template <class _elementType, vct::stride_type _stride>
-class vctFixedStrideVectorConstIterator:
-    public std::iterator<std::random_access_iterator_tag, _elementType>
+class vctFixedStrideVectorConstIterator
 {
 public:
     /* define most types from vctContainerTraits */
@@ -69,12 +67,9 @@ class vctFixedStrideVectorConstIterator:
     /*! This of the iterator itself. */
     typedef vctFixedStrideVectorConstIterator<_elementType, _stride> ThisType;
 
-    /*! Base type for this iterator, i.e. std::iterator. */
-    typedef std::iterator<std::random_access_iterator_tag, _elementType> BaseType;
-
     /*! Type (i.e. category) of iterator,
       i.e. std::random_access_iterator_tag. */
-    typedef typename BaseType::iterator_category iterator_category;
+    typedef typename std::random_access_iterator_tag iterator_category;
 
     /* Stride between the elements of a vector. */
     enum {STRIDE = _stride};

cisstVector/vctVarStrideMatrixIterator.h

@@ -6,8 +6,7 @@
   Author(s):  Ofri Sadowsky, Anton Deguet
   Created on: 2004-07-02
 
-  (C) Copyright 2004-2013 Johns Hopkins University (JHU), All Rights
-  Reserved.
+  (C) Copyright 2004-2025 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -37,8 +36,7 @@ no warranty.  The complete license can be found in license.txt and
   \sa vctVarStrideMatrixIterator
 */
 template<class _elementType>
-class vctVarStrideMatrixConstIterator:
-    public std::iterator<std::random_access_iterator_tag, _elementType>
+class vctVarStrideMatrixConstIterator
 {
 public:
     /* define most types from vctContainerTraits */
@@ -47,12 +45,9 @@ class vctVarStrideMatrixConstIterator:
     /*! The type of the iterator itself. */
     typedef vctVarStrideMatrixConstIterator<_elementType> ThisType;
 
-    /*! Base type for this iterator, i.e. std::iterator. */
-    typedef std::iterator<std::random_access_iterator_tag, _elementType> BaseType;
-
     /*! Type (i.e. category) of iterator,
       i.e. std::random_access_iterator_tag. */
-    typedef typename BaseType::iterator_category iterator_category;
+    typedef typename std::random_access_iterator_tag iterator_category;
 
 protected:
     /*! The data member points to the object being refered by this

cisstVector/vctVarStrideNArrayIterator.h

@@ -6,8 +6,7 @@
   Author(s):  Daniel Li, Ofri Sadowsky, Anton Deguet
   Created on: 2006-07-11
 
-  (C) Copyright 2006-2013 Johns Hopkins University (JHU), All Rights
-  Reserved.
+  (C) Copyright 2006-2025 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -43,9 +42,7 @@ no warranty.  The complete license can be found in license.txt and
   \sa vctVarStrideNArrayIterator
 */
 template<class _ownerType, bool _forward>
-class vctVarStrideNArrayConstIterator:
-    public std::iterator<std::random_access_iterator_tag,
-                         typename _ownerType::value_type>
+class vctVarStrideNArrayConstIterator
 {
 public:
     /* define most types from vctContainerOwnerTraits and vctNArrayTraits */
@@ -64,12 +61,9 @@ class vctVarStrideNArrayConstIterator:
       iterator points. */
     typedef _ownerType OwnerType;
 
-    /*! Base type for this iterator, i.e. std::iterator. */
-    typedef std::iterator<std::random_access_iterator_tag, value_type> BaseType;
-
     /*! Type (i.e. category) of iterator,
       i.e. std::random_access_iterator_tag. */
-    typedef typename BaseType::iterator_category iterator_category;
+    typedef typename std::random_access_iterator_tag iterator_category;
 
 protected:
     /*! Pointer to the address of the container being referred to

cisstVector/vctVarStrideVectorIterator.h

@@ -6,8 +6,7 @@
   Author(s):  Ofri Sadowsky, Anton Deguet
   Created on: 2004-07-02
 
-  (C) Copyright 2004-2013 Johns Hopkins University (JHU), All Rights
-  Reserved.
+  (C) Copyright 2004-2025 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -53,8 +52,7 @@ no warranty.  The complete license can be found in license.txt and
   \sa vctVarStrideVectorIterator
 */
 template<class _elementType>
-class vctVarStrideVectorConstIterator:
-	public std::iterator<std::random_access_iterator_tag, _elementType>
+class vctVarStrideVectorConstIterator
 {
 public:
     /* define most types from vctContainerTraits */
@@ -63,12 +61,9 @@ class vctVarStrideVectorConstIterator:
     /*! The type of the iterator itself. */
     typedef vctVarStrideVectorConstIterator<_elementType> ThisType;
 
-    /*! Base type for this iterator, i.e. std::iterator. */
-    typedef std::iterator<std::random_access_iterator_tag, _elementType> BaseType;
-
     /*! Type (i.e. category) of iterator,
       i.e. std::random_access_iterator_tag. */
-    typedef typename BaseType::iterator_category iterator_category;
+    typedef typename std::random_access_iterator_tag iterator_category;
 
 protected:
     /*! The data member points to the object being refered by this

cmake/cisstMacros.cmake

@@ -543,7 +543,7 @@ function (cisst_add_swig_module ...)
 
   if (EXISTS ${SWIG_INTERFACE_FILE})
     # load settings for extra cisst libraries (and Python)
-    set (_LIBRARIES_AND_SETTINGS ${MODULE_LINK_LIBRARIES} cisstPython)
+    set (_LIBRARIES_AND_SETTINGS ${MODULE_LINK_LIBRARIES} cisstPython cisstSWIG)
     cisst_set_directories (${_LIBRARIES_AND_SETTINGS})
     # retrieve libraries needed for Python
     cisst_extract_settings (cisstPython LIBRARIES cisstPython_LIBRARIES)

cmake/sawConfig.cmake.in

@@ -1,5 +1,5 @@
 #
-# (C) Copyright 2011-2021 Johns Hopkins University (JHU), All Rights Reserved.
+# (C) Copyright 2011-2025 Johns Hopkins University (JHU), All Rights Reserved.
 #
 
 set (@_cacf_component_name@_VERSION_MAJOR "@_cacf_version_major@")
@@ -27,7 +27,7 @@ else ()
     NAMES @_cacf_component_name@/@_cacf_component_name@Export.h
     HINTS ${THIS_FILE_PATH}/../.. ${THIS_FILE_PATH}/../../..)
   # set library path relative to include
-  set (@_cacf_component_name@_LIBRARY_DIR "${@_cacf_component_name@_INCLUDE_DIR}/../lib")
+  set (@_cacf_component_name@_LIBRARY_DIR "${@_cacf_component_name@_INCLUDE_DIR}/../lib" "@_cacf_library_dir@")
 endif ()
 
 set (@_cacf_component_name@_LIBRARIES "@_cacf_libraries@")