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#
# Test CMake version
#
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
#MARK_AS_ADVANCED( FORCE CMAKE_BACKWARDS_COMPATIBILITY )
###################################################
# #
# Start project customization section #
# #
###################################################
PROJECT(orocos_kdl)
SET( KDL_VERSION 1.3.1)
STRING( REGEX MATCHALL "[0-9]+" KDL_VERSIONS ${KDL_VERSION} )
LIST( GET KDL_VERSIONS 0 KDL_VERSION_MAJOR)
LIST( GET KDL_VERSIONS 1 KDL_VERSION_MINOR)
LIST( GET KDL_VERSIONS 2 KDL_VERSION_PATCH)
MESSAGE( "Orocos KDL version ${VERSION} (${KDL_VERSION_MAJOR}.${KDL_VERSION_MINOR}.${KDL_VERSION_PATCH})" )
SET( PROJ_SOURCE_DIR ${orocos_kdl_SOURCE_DIR} )
SET( PROJ_BINARY_DIR ${orocos_kdl_BINARY_DIR} )
IF(NOT CMAKE_INSTALL_PREFIX)
SET( CMAKE_INSTALL_PREFIX /usr/local/ CACHE PATH "Installation directory" FORCE)
MESSAGE( STATUS "Setting installation directory to ${CMAKE_INSTALL_PREFIX}" )
ENDIF(NOT CMAKE_INSTALL_PREFIX)
SET(CMAKE_VERSION "${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION}")
IF ( NOT CMAKE_BUILD_TYPE )
SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build, options are: None(CMAKE_CXX_FLAGS or CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel." FORCE)
MESSAGE( "Setting build type to '${CMAKE_BUILD_TYPE}'" )
ELSE ( NOT CMAKE_BUILD_TYPE )
MESSAGE( "Build type set to '${CMAKE_BUILD_TYPE}' by user." )
ENDIF ( NOT CMAKE_BUILD_TYPE )
SET( KDL_CFLAGS "")
find_package(Eigen 3 QUIET)
if(NOT Eigen_FOUND)
include(${PROJ_SOURCE_DIR}/config/FindEigen3.cmake)
set(Eigen_INCLUDE_DIR ${EIGEN3_INCLUDE_DIR})
endif()
include_directories(${Eigen_INCLUDE_DIR})
SET(KDL_CFLAGS "${KDL_CFLAGS} -I${Eigen_INCLUDE_DIR}")
# Check the platform STL containers capabilities
include(config/CheckSTLContainers.cmake)
CHECK_STL_CONTAINERS()
# Set the default option appropriately
if(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
set(KDL_USE_NEW_TREE_INTERFACE_DEFAULT Off)
else(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
set(KDL_USE_NEW_TREE_INTERFACE_DEFAULT On)
endif(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
# Allow the user to select the Tree API version to use
set(KDL_USE_NEW_TREE_INTERFACE ${KDL_USE_NEW_TREE_INTERFACE_DEFAULT} CACHE BOOL "Use the new KDL Tree interface")
# The new interface requires the use of shared pointers
if(KDL_USE_NEW_TREE_INTERFACE)
# We need shared_ptr from boost since not all compilers are c++11 capable
find_package(Boost REQUIRED)
include_directories(${Boost_INCLUDE_DIRS})
set(KDL_INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
endif(KDL_USE_NEW_TREE_INTERFACE)
INCLUDE (${PROJ_SOURCE_DIR}/config/DependentOption.cmake)
OPTION(ENABLE_TESTS OFF "Enable building of tests")
IF( ENABLE_TESTS )
# If not in standard paths, set CMAKE_xxx_PATH's in environment, eg.
# export CMAKE_INCLUDE_PATH=/opt/local/include
# export CMAKE_LIBRARY_PATH=/opt/local/lib
FIND_LIBRARY(CPPUNIT cppunit)
SET(CPPUNIT ${CPPUNIT} "dl")
FIND_PATH(CPPUNIT_HEADERS cppunit/TestRunner.h)
IF ( CPPUNIT AND CPPUNIT_HEADERS)
MESSAGE("-- Looking for Cppunit - found")
ELSE ( CPPUNIT AND CPPUNIT_HEADERS )
MESSAGE( FATAL_ERROR "-- Looking for Cppunit - not found")
ENDIF ( CPPUNIT AND CPPUNIT_HEADERS )
ENDIF(ENABLE_TESTS )
OPTION(ENABLE_EXAMPLES OFF "Enable building of examples")
ADD_SUBDIRECTORY( doc )
ADD_SUBDIRECTORY( src )
ADD_SUBDIRECTORY( tests )
ADD_SUBDIRECTORY( models )
ADD_SUBDIRECTORY( examples )
export(TARGETS orocos-kdl
FILE "${PROJECT_BINARY_DIR}/OrocosKDLTargets.cmake")
export(PACKAGE orocos_kdl)
set(KDL_INCLUDE_DIRS ${KDL_INCLUDE_DIRS} ${Eigen_INCLUDE_DIR})
CONFIGURE_FILE(KDLConfig.cmake.in
${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake @ONLY)
CONFIGURE_FILE(KDLConfigVersion.cmake.in
${PROJECT_BINARY_DIR}/orocos_kdl-config-version.cmake @ONLY)
INSTALL(FILES ${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake DESTINATION share/orocos_kdl)
INSTALL(FILES ${PROJECT_BINARY_DIR}/orocos_kdl-config-version.cmake DESTINATION share/orocos_kdl)
INSTALL(EXPORT OrocosKDLTargets DESTINATION share/orocos_kdl)
INSTALL(FILES package.xml DESTINATION share/orocos_kdl)
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