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# Locate KDL install directory
# This module defines
# KDL_INSTALL where to find include, lib, bin, etc.
# KDL_FOUND, is set to true
#INCLUDE (${PROJECT_SOURCE_DIR}/config/FindPkgConfig.cmake)
IF ( CMAKE_PKGCONFIG_EXECUTABLE )
MESSAGE( STATUS "Detecting KDL" )
SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/")
MESSAGE( "Looking for KDL in: ${KDL_INSTALL}")
PKGCONFIG( "orocos-kdl >= 0.99" KDL_FOUND KDL_INCLUDE_DIRS KDL_DEFINES KDL_LINK_DIRS KDL_LIBS )
IF( KDL_FOUND )
MESSAGE(" Includes in: ${KDL_INCLUDE_DIRS}")
MESSAGE(" Libraries in: ${KDL_LINK_DIRS}")
MESSAGE(" Libraries: ${KDL_LIBS}")
MESSAGE(" Defines: ${KDL_DEFINES}")
INCLUDE_DIRECTORIES( ${KDL_INCLUDE_DIRS} )
LINK_DIRECTORIES( ${KDL_LINK_DIRS})
#OROCOS_PKGCONFIG_INCPATH("${KDLTK_INCLUDE_DIRS}")
#OROCOS_PKGCONFIG_LIBS("${KDL_LIBS}")
#OROCOS_PKGCONFIG_LIBPATH("${KDL_LINK_DIRS}")
SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/:${OROCOS_INSTALL}/lib/pkgconfig")
MESSAGE( "Looking for KDL Toolkit in: ${PKG_CONFIG_PATH}")
PKGCONFIG( "orocos-kdltk-${OROCOS_TARGET} >= 0.99" KDLTK_FOUND KDLTK_INCLUDE_DIRS KDLTK_DEFINES KDLTK_LINK_DIRS KDLTK_LIBS )
IF(KDLTK_FOUND)
INCLUDE_DIRECTORIES( ${KDLTK_INCLUDE_DIRS} )
LINK_DIRECTORIES( ${KDLTK_LINK_DIRS})
OROCOS_PKGCONFIG_INCPATH("${KDLTK_INCLUDE_DIRS}")
OROCOS_PKGCONFIG_LIBPATH("${KDLTK_LINK_DIRS}")
OROCOS_PKGCONFIG_LIBS("${KDLTK_LIBS}")
IF(CORBA_ENABLED)
SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/:${OROCOS_INSTALL}/lib/pkgconfig")
MESSAGE("Looking for KDL Toolkit CORBA extension in ${PKG_CONFIG_PATH}")
PKGCONFIG( "orocos-kdltk-corba-${OROCOS_TARGET} >= 0.99" KDLTKCORBA_FOUND KDLTKCORBA_INCLUDE_DIRS KDLTKCORBA_DEFINES KDLTKCORBA_LINK_DIRS KDLTKCORBA_LIBS )
IF(KDLTKCORBA_FOUND)
INCLUDE_DIRECTORIES( ${KDLTKCORBA_INCLUDE_DIRS} )
LINK_DIRECTORIES( ${KDLTKCORBA_LINK_DIRS})
OROCOS_PKGCONFIG_INCPATH("${KDLTKCORBA_INCLUDE_DIRS}")
OROCOS_PKGCONFIG_LIBPATH("${KDLTKCORBA_LINK_DIRS}")
OROCOS_PKGCONFIG_LIBS("${KDLTKCORBA_LIBS}")
ENDIF ( KDLTKCORBA_FOUND )
ENDIF(CORBA_ENABLED)
ENDIF ( KDLTK_FOUND )
ENDIF ( KDL_FOUND )
ELSE ( CMAKE_PKGCONFIG_EXECUTABLE )
# Can't find pkg-config -- have to search manually
MESSAGE( FATAL_ERROR "Can't find KDL without pkgconfig !")
ENDIF ( CMAKE_PKGCONFIG_EXECUTABLE )
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