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# Copyright (c) 2012 CNRS
# Author: Florent Lamiraux
#
# This file is part of hpp-rbprm-corba.
# hpp-rbprm-corba is free software: you can redistribute it
# and/or modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation, either version
# 3 of the License, or (at your option) any later version.
#
# hpp-rbprm-corba is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
# General Lesser Public License for more details.  You should have
# received a copy of the GNU Lesser General Public License along with
# hpp-rbprm-corba.  If not, see
# <http://www.gnu.org/licenses/>.

# Requires at least CMake 2.6 to configure the package.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

SET(CXX_DISABLE_WERROR true)

INCLUDE(cmake/base.cmake)
INCLUDE(cmake/idl.cmake)
INCLUDE(cmake/python.cmake)

SET(PROJECT_NAME hpp-rbprm-corba)
SET(PROJECT_DESCRIPTION "Corba server for reachability based planning")
SET(PROJECT_URL "")

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# Set to 1 for profiling
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#add_definitions(-DPROFILE)
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SET(CUSTOM_HEADER_DIR hpp/corbaserver/rbprm)

SETUP_PROJECT ()

SET(${PROJECT_NAME}_HEADERS
  include/hpp/corbaserver/rbprm/server.hh
)

# Activate hpp-util logging if requested
SET (HPP_DEBUG FALSE CACHE BOOL "trigger hpp-util debug output")
IF (HPP_DEBUG)
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHPP_DEBUG")
ENDIF()

ADD_DOC_DEPENDENCY("hpp-core >= 3")
ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 3")
ADD_REQUIRED_DEPENDENCY("hpp-rbprm")
ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
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ADD_REQUIRED_DEPENDENCY("hpp-model-urdf >= 3")
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ADD_REQUIRED_DEPENDENCY("hpp-affordance-corba")
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PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
ADD_SUBDIRECTORY(src)

CONFIG_FILES (include/hpp/corbaserver/rbprm/doc.hh)

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SET(CATKIN_PACKAGE_SHARE_DESTINATION
  ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME})

install(FILES
  data/package.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  )
install(FILES
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  data/urdf/hrp2_trunk.urdf
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  data/urdf/hrp2_trunk_flexible.urdf
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  data/urdf/hrp2_rom.urdf
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  data/urdf/hrp2_larm_rom.urdf
  data/urdf/hrp2_rarm_rom.urdf
  data/urdf/hrp2_lleg_rom.urdf
  data/urdf/hrp2_rleg_rom.urdf
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  data/urdf/hyq/hyq_trunk.urdf
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  data/urdf/hyq/hyq_trunk_large.urdf
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  data/urdf/hyq/hyq_rhleg_rom.urdf
  data/urdf/hyq/hyq_rfleg_rom.urdf
  data/urdf/hyq/hyq_lhleg_rom.urdf
  data/urdf/hyq/hyq_lfleg_rom.urdf
  data/urdf/hyq/hyq_rom.urdf
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  data/urdf/box_rom.urdf
  data/urdf/box.urdf
  data/urdf/scene.urdf
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  data/urdf/scene_wall.urdf
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  data/urdf/truck.urdf
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  data/urdf/stair_bauzil.urdf
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  data/urdf/climb.urdf
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  data/urdf/stepladder.urdf
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  data/urdf/ground.urdf
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  data/urdf/groundcrouch.urdf
  data/urdf/darpa.urdf
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  data/urdf/car.urdf
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  data/urdf/polaris.urdf
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  data/urdf/siggraph_asia/down.urdf
  data/urdf/siggraph_asia/scale.urdf
  data/urdf/siggraph_asia/scale_spidey.urdf
  data/urdf/siggraph_asia/grasp.urdf
  data/urdf/siggraph_asia/plane_hole.urdf
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  data/urdf/siggraph_asia/stairs_lower.urdf
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  data/urdf/siggraph_asia/wall.urdf
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  data/urdf/siggraph_asia/twister.urdf
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  data/urdf/siggraph_asia/mount.urdf
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  data/spiderman/urdf/SpidermanLFootSphere.urdf
  data/spiderman/urdf/SpidermanLHandSphere.urdf
  data/spiderman/urdf/SpidermanRFootSphere.urdf
  data/spiderman/urdf/SpidermanRHandSphere.urdf
  data/spiderman/urdf/spiderman_trunk.urdf
  data/spiderman/urdf/spiderman.urdf

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  #~ data/urdf/scene2.urdf
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  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
  )
install(FILES
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  data/srdf/hrp2_trunk.srdf
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  data/srdf/hrp2_trunk_flexible.srdf
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  data/srdf/hrp2_rom.srdf
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  data/srdf/hrp2_larm_rom.srdf
  data/srdf/hrp2_rarm_rom.srdf
  data/srdf/hrp2_lleg_rom.srdf
  data/srdf/hrp2_rleg_rom.srdf
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  data/srdf/hyq/hyq_trunk.srdf
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  data/srdf/hyq/hyq_trunk_large.srdf
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  data/srdf/hyq/hyq_rhleg_rom.srdf
  data/srdf/hyq/hyq_rfleg_rom.srdf
  data/srdf/hyq/hyq_lhleg_rom.srdf
  data/srdf/hyq/hyq_lfleg_rom.srdf
  data/srdf/hyq/hyq_rom.srdf
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  data/srdf/box_rom.srdf
  data/srdf/box.srdf
  data/srdf/scene.srdf
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  data/srdf/scene_wall.srdf
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  data/srdf/truck.srdf
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  data/srdf/stair_bauzil.srdf
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  data/srdf/climb.srdf
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  data/srdf/stepladder.srdf
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  data/srdf/ground.srdf
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  data/srdf/groundcrouch.srdf
  data/srdf/darpa.srdf
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  data/srdf/car.srdf
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  data/srdf/polaris.srdf
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  data/srdf/siggraph_asia/down.srdf
  data/srdf/siggraph_asia/scale.srdf
  data/srdf/siggraph_asia/scale_spidey.srdf
  data/srdf/siggraph_asia/grasp.srdf
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  data/srdf/siggraph_asia/wall.srdf
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  data/srdf/siggraph_asia/plane_hole.srdf
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  data/srdf/siggraph_asia/stairs_lower.srdf
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  data/srdf/siggraph_asia/twister.srdf
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  data/srdf/siggraph_asia/mount.srdf
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  data/spiderman/srdf/SpidermanLFootSphere.srdf
  data/spiderman/srdf/SpidermanLHandSphere.srdf
  data/spiderman/srdf/SpidermanRFootSphere.srdf
  data/spiderman/srdf/SpidermanRHandSphere.srdf
  data/spiderman/srdf/spiderman.srdf
  data/spiderman/srdf/spiderman_trunk.srdf

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  #~ data/srdf/scene2.srdf
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  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
  )
install(FILES
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	data/meshes/darpa.stl
	data/meshes/darpareduced.stl
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	data/meshes/car.stl
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	data/meshes/car_simple.stl
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	data/meshes/ground.stl
	data/meshes/ground_table.stl
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	data/meshes/hrp2_trunk.stl
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	data/meshes/hrp2_trunk_body.stl
	data/meshes/hrp2_trunk_torso.stl
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	data/meshes/hrp2_trunk_body_view.dae
	data/meshes/hrp2_trunk_torso_view.dae
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	data/meshes/hrp2_rom.stl
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	data/meshes/hrp2_larm_rom.stl
	data/meshes/hrp2_rarm_rom.stl
	data/meshes/hrp2_lleg_rom.stl
	data/meshes/hrp2_rleg_rom.stl
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	data/meshes/ground.stl
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	data/meshes/box.stl
	data/meshes/box_rom.stl
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	data/meshes/robot_box.stl
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	data/meshes/chair_simple.stl
	data/meshes/ground.stl
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	data/meshes/groundcrouch.stl
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	data/meshes/truck.stl
	data/meshes/truck_vision.stl
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	data/meshes/stair_bauzil.stl
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	data/meshes/stair_bauzil_reduced.stl
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	data/meshes/climb.stl
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	data/meshes/stepladder.stl
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	data/meshes/chair.stl
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	data/meshes/car.stl
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	data/meshes/polaris.stl
	data/meshes/polaris_reduced.stl
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	data/meshes/siggraph_asia/twister.stl
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	data/meshes/siggraph_asia/down.stl
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	data/meshes/siggraph_asia/scale.stl
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    data/meshes/siggraph_asia/scale_spidey.stl
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    data/meshes/siggraph_asia/mountain.stl
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    data/meshes/siggraph_asia/grasp.stl
    data/meshes/siggraph_asia/plane_hole.stl
    data/meshes/siggraph_asia/wall.stl
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    data/meshes/siggraph_asia/stairs_lower.stl
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  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
  )
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install(FILES
        data/spiderman/meshes/spiderman-LFoot.stl
        data/spiderman/meshes/spiderman-LFootToe.stl
        data/spiderman/meshes/spiderman-LForearm.stl
        data/spiderman/meshes/spiderman-LHand.stl
        data/spiderman/meshes/spiderman-LHumerus.stl
        data/spiderman/meshes/spiderman-LShank.stl
        data/spiderman/meshes/spiderman-LThigh.stl
        data/spiderman/meshes/spiderman-pelvis_box.stl
        data/spiderman/meshes/spiderman-pelvis.stl
        data/spiderman/meshes/spiderman-RFoot.stl
        data/spiderman/meshes/spiderman-RFootToe.stl
        data/spiderman/meshes/spiderman-RForearm.stl
        data/spiderman/meshes/spiderman-RHand.stl
        data/spiderman/meshes/spiderman-RHumerus.stl
        data/spiderman/meshes/spiderman-RShank.stl
        data/spiderman/meshes/spiderman-RThigh.stl
        data/spiderman/meshes/spiderman-skull_box.stl
        data/spiderman/meshes/spiderman-skull.stl
        data/spiderman/meshes/spiderman-thorax_box.stl
        data/spiderman/meshes/spiderman-thorax.stl
        data/spiderman/meshes/lfoot_rom.stl
        data/spiderman/meshes/lhand_rom.stl
        data/spiderman/meshes/rfoot_rom.stl
        data/spiderman/meshes/rhand_rom.stl

  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/spiderman
  )

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install(FILES
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	data/meshes/hyq/hyq_all.stl
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	data/meshes/hyq/hyq_trunk.stl
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	data/meshes/hyq/hyq_trunk_large.stl
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	data/meshes/hyq/hyq_rom.stl
	data/meshes/hyq/hyq_rhleg_rom.stl
	data/meshes/hyq/hyq_rfleg_rom.stl
	data/meshes/hyq/hyq_lhleg_rom.stl
	data/meshes/hyq/hyq_lfleg_rom.stl
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/hyq
  )
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SETUP_PROJECT_FINALIZE()