Package with cmake

	* CMakeLists.txt: new,
	* INSTALL,
	* cmake_uninstall.cmake.in: new,
	* doc/CMakeLists.txt: new
	* doc/package.dox.cmake: new,
	* hppCore.pc.cmake: new,
	* include/CMakeLists.txt: new,
	* src/CMakeLists.txt: new.

CMakeLists.txt

+#
+#  Copyright 2010 CNRS-LAAS
+#  Author: Florent Lamiraux
+#
+
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+SET(PROJECT_NAME hppCore)
+project(${PROJECT_NAME})
+
+SET(PROJECT_VERSION 1.12)
+
+SET(CMAKE_VERBOSE_MAKEFILE true)
+
+IF(WIN32)
+  SET(LIBDIR_KW "/LIBPATH:")
+  SET(LIBINCL_KW "")
+  SET(LIB_EXT ".lib")
+ENDIF(WIN32)
+
+IF(UNIX)
+  SET(LIBDIR_KW "-L")
+  SET(LIBINCL_KW "-l")
+  SET(LIB_EXT "")
+ENDIF(UNIX)
+
+#
+# Look for dependencies
+#
+
+# Load Pkgconfig macros
+INCLUDE(FindPkgConfig)
+SET(PACKAGE_REQUIREMENTS "")
+
+#
+#  Dependency to package kwsPlus
+#
+SET(KWSPLUS_FOUND 0)
+SET(KWSPLUS_REQUIRED "kwsPlus >= 1.8")
+PKG_CHECK_MODULES(KWSPLUS REQUIRED ${KWSPLUS_REQUIRED})
+EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=docdir kwsPlus
+  OUTPUT_VARIABLE KWSPLUS_DOCDIR)
+MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
+MESSAGE(STATUS "KWSPLUS_DOCDIR=${KWSPLUS_DOCDIR}")
+SET(KWSPLUS_FOUND 1)
+
+IF(NOT ${KWSPLUS_FOUND})
+  MESSAGE(FATAL_ERROR "Check that package kwsPlus is installed in a directory pointed out by PKG_CONFIG_PATH.")
+ENDIF(NOT ${KWSPLUS_FOUND})
+
+IF(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS ${KWSPLUS_REQUIRED})
+ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${KWSPLUS_REQUIRED}")
+ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
+
+
+#
+#  Optional Dependency to package hppModel
+#
+IF (NOT DEFINED ENABLE_BODY)
+  SET(ENABLE_BODY NO)
+ENDIF(NOT DEFINED ENABLE_BODY)
+
+MESSAGE (STATUS "ENABLE_BODY "${ENABLE_BODY})
+
+IF(${ENABLE_BODY} STREQUAL YES)
+  MESSAGE(STATUS "using internal implementation of ChppBody")
+  SET(BODY_CFLAGS "IMPLEMENT_BODY=1")
+  SET(BODY_HEADER_PATH="hppModel")
+ELSE(${ENABLE_BODY} STREQUAL YES)
+  MESSAGE(STATUS "using external implementation of ChppBody")
+  SET(HPPMODEL_FOUND 0)
+  SET(HPPMODEL_REQUIRED "hppModel >= 1.7.6")
+  PKG_CHECK_MODULES(HPPMODEL REQUIRED ${HPPMODEL_REQUIRED})
+  EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=docdir hppModel
+    OUTPUT_VARIABLE HPPMODEL_DOCDIR)
+  MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
+  MESSAGE(STATUS "HPPMODEL_DOCDIR=${HPPMODEL_DOCDIR}")
+  SET(HPPMODEL_FOUND 1)
+
+  IF(NOT ${HPPMODEL_FOUND})
+    MESSAGE(FATAL_ERROR "Check that package hppModel is installed in a directory pointed out by PKG_CONFIG_PATH.")
+  ENDIF(NOT ${HPPMODEL_FOUND})
+
+  IF(PACKAGE_REQUIREMENTS STREQUAL "")
+    SET(PACKAGE_REQUIREMENTS ${HPPMODEL_REQUIRED})
+  ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
+    SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${HPPMODEL_REQUIRED}")
+  ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
+ENDIF(${ENABLE_BODY} STREQUAL YES)
+
+#
+# pkg-config file
+#
+
+SET(install_pkg_prefix "\${prefix}")
+SET(install_pkg_exec_prefix "\${exec_prefix}")
+SET(install_pkg_libdir "\${libdir}")
+SET(install_pkg_datarootdir "\${datarootdir}")
+SET(install_pkg_include_dir "\${includedir}")
+
+IF(UNIX)
+  SET (${PROJECT_NAME}_LDFLAGS "-Wl,-R${install_pkg_libdir} ${LIBINCL_KW}${PROJECT_NAME}${LIB_EXT} ${${PROJECT_NAME}_LDFLAGS}")
+ENDIF(UNIX)
+
+IF(WIN32)
+  SET (${PROJECT_NAME}_LDFLAGS "${LIBINCL_KW}${PROJECT_NAME}${LIB_EXT} ${${PROJECT_NAME}_LDFLAGS}")
+ENDIF(WIN32)
+
+# Install the file in the appropriate place.
+SET(install_libdir_pkgconfig lib/pkgconfig)
+
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.pc.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc)
+
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc
+  DESTINATION ${install_libdir_pkgconfig}
+  PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+
+ADD_SUBDIRECTORY(src)
+ADD_SUBDIRECTORY(include)
+
+#
+# Documentation produced by doxygen
+#
+INCLUDE(FindDoxygen)
+IF(DOXYGEN_FOUND)
+  add_subdirectory(doc)
+ENDIF(DOXYGEN_FOUND)
+
+#
+# Uninstall target
+#
+CONFIGURE_FILE(
+  ${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
+  IMMEDIATE )
+
+ADD_CUSTOM_TARGET(uninstall
+  "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
+
+#
+# Package
+#
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "hppCore")
+set(CPACK_PACKAGE_VENDOR "Your laboratory")
+set(CPACK_PACKAGE_DESCRIPTION_FILE ${CMAKE_CURRENT_SOURCE_DIR}/README)
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Your name")
+set(CPACK_GENERATOR DEB)
+set(
+CPACK_SOURCE_PACKAGE_FILE_NAME
+"hppCore-${PROJECT_VERSION}"
+CACHE INTERNAL "tarball basename"
+)
+set(CPACK_SOURCE_GENERATOR TGZ)
+
+set(CPACK_SOURCE_IGNORE_FILES
+"~$""^${PROJECT_SOURCE_DIR}/build/"
+"^${PROJECT_SOURCE_DIR}/.git/"
+)
+include(CPack)

INSTALL

@@ -6,9 +6,9 @@ untar the package
 cd hppCore
 mkdir build
 cd build
-../configure [OPTIONS]
+cmake [OPTIONS] ..
 
-  --disable-body : Configuration with dependence to hppModel 
+  -DENABLE_BODY=YES : Configuration with dependence to hppModel 
   ----------------------------------------------------------
 
   hppCore can be compiled with a dependence to package hppModel that 
@@ -21,17 +21,11 @@ cd build
       derives from CkppDeviceComponent for the geometric part and from 
       an implementation of CjrlDynamicRobot for the dynamic part.
 
-  --enable-body : Configuration with or without dependence to hppModel
-  --------------------------------------------------------------------
-
   If the dependence to hppModel is not required, hppCore provides a 
   simplified implementation of class ChppBody deriving from CkwsKCDBody.
   
 
-Compilation
------------
-make
+Compilation and Installation
+----------------------------
 
-Installation
-------------
 make install

cmake_uninstall.cmake.in

+# Template for uninstalling the files
+# provided by this package.
+#
+# This file is coming straight from
+# http://www.cmake.org/Wiki/CMake_FAQ
+# O. Stasse, JRL, CNRS, 2010
+#
+
+IF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+  MESSAGE(FATAL_ERROR "Cannot find install manifest:\"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
+ENDIF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+
+FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
+STRING(REGEX REPLACE "\n" ";" files "${files}")
+FOREACH(file ${files})
+  MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
+  IF(EXISTS "$ENV{DESTDIR}${file}")
+    EXEC_PROGRAM(
+      "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
+      OUTPUT_VARIABLE rm_out
+      RETURN_VALUE rm_retval
+      )
+    IF(NOT "${rm_retval}" STREQUAL 0)
+      MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+    ENDIF(NOT "${rm_retval}" STREQUAL 0)
+  ELSE(EXISTS "$ENV{DESTDIR}${file}")
+    MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
+  ENDIF(EXISTS "$ENV{DESTDIR}${file}")
+ENDFOREACH(file)

doc/CMakeLists.txt

+# 
+#  Copyright 2010 CNRS-LAAS
+#  Author: Florent Lamiraux
+# 
+
+# Configure package.dox file
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/package.dox.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/package.dox
+)
+
+
+ADD_CUSTOM_COMMAND(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/html/index.html
+  COMMAND ${DOXYGEN_EXECUTABLE} \"${CMAKE_CURRENT_BINARY_DIR}/package.dox\"
+)
+
+ADD_CUSTOM_TARGET(documentation ALL
+  DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/html/index.html)
+
+#
+# Install html documentation
+#
+
+# html files
+INSTALL(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/html
+  DESTINATION share/doc/${PROJECT_NAME})
+
+# doxytag
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.doxytag
+  DESTINATION share/doc/${PROJECT_NAME}/html)
+
+# pictures
+INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/pictures
+  DESTINATION share/doc/${PROJECT_NAME}/html)

doc/package.dox.cmake

+# Doxyfile 1.4.2
+
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+OUTPUT_DIRECTORY       = .
+CREATE_SUBDIRS         = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+ALWAYS_DETAILED_SEC    = YES
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = NO
+STRIP_FROM_PATH        = 
+STRIP_FROM_INC_PATH    = 
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = YES
+MULTILINE_CPP_IS_BRIEF = NO
+DETAILS_AT_TOP         = YES
+INHERIT_DOCS           = YES
+DISTRIBUTE_GROUP_DOC   = NO
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 2
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+SUBGROUPING            = YES
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+CASE_SENSE_NAMES       = NO
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = NO
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_BY_SCOPE_NAME     = NO
+MAX_INITIALIZER_LINES  = 30
+FILE_VERSION_FILTER    = 
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = NO
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+WARN_LOGFILE           = 
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+RECURSIVE              = YES
+EXCLUDE                = 
+EXCLUDE_SYMLINKS       = NO
+EXAMPLE_PATH           = 
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+INPUT_FILTER           = 
+FILTER_PATTERNS        = 
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = NO
+COLS_IN_ALPHA_INDEX    = 5
+IGNORE_PREFIX          = 
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_FILE_EXTENSION    = .html
+HTML_ALIGN_MEMBERS     = YES
+GENERATE_HTMLHELP      = NO
+CHM_FILE               = 
+HHC_LOCATION           = 
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = YES
+DISABLE_INDEX          = NO
+ENUM_VALUES_PER_LINE   = 1
+GENERATE_TREEVIEW      = YES
+TREEVIEW_WIDTH         = 250
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+LATEX_OUTPUT           = latex
+LATEX_CMD_NAME         = latex
+MAKEINDEX_CMD_NAME     = makeindex
+COMPACT_LATEX          = NO
+PAPER_TYPE             = a4wide
+EXTRA_PACKAGES         = 
+LATEX_HEADER           = 
+PDF_HYPERLINKS         = NO
+USE_PDFLATEX           = NO
+LATEX_BATCHMODE        = NO
+LATEX_HIDE_INDICES     = NO
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+RTF_OUTPUT             = rtf
+COMPACT_RTF            = NO
+RTF_HYPERLINKS         = NO
+RTF_STYLESHEET_FILE    = 
+RTF_EXTENSIONS_FILE    = 
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+MAN_OUTPUT             = man
+MAN_EXTENSION          = .3
+MAN_LINKS              = NO
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+XML_OUTPUT             = xml
+XML_SCHEMA             = 
+XML_DTD                = 
+XML_PROGRAMLISTING     = YES
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+PERLMOD_LATEX          = NO
+PERLMOD_PRETTY         = YES
+PERLMOD_MAKEVAR_PREFIX = 
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+SEARCH_INCLUDES        = YES
+INCLUDE_PATH           = 
+INCLUDE_FILE_PATTERNS  = 
+EXPAND_AS_DEFINED      = 
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references   
+#---------------------------------------------------------------------------
+TAGFILES               = \
+	${KWSPLUS_DOCDIR}/html/kwsPlus.doxytag=${KWSPLUS_DOCDIR}/html \
+	${HPPMODEL_DOCDIR}/html/hppModel.doxytag=${HPPMODEL_DOCDIR}/html
+GENERATE_TAGFILE       = hppCore.doxytag
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool   
+#---------------------------------------------------------------------------
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine   
+#---------------------------------------------------------------------------
+SEARCHENGINE           = NO
+
+
+
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+PROJECT_NAME           = "${PROJECT_NAME} library documentation"
+PROJECT_NUMBER         = ${PROJECT_VERSION}
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = YES
+EXTRACT_STATIC         = NO
+HIDE_UNDOC_MEMBERS     = YES
+HIDE_UNDOC_CLASSES     = YES
+HIDE_FRIEND_COMPOUNDS  = YES
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+SHOW_INCLUDE_FILES     = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = NO
+GENERATE_BUGLIST       = NO
+GENERATE_DEPRECATEDLIST= YES
+ENABLED_SECTIONS       = 
+SHOW_USED_FILES        = NO
+SHOW_DIRECTORIES       = NO
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+FILE_PATTERNS          = *.hh *.idl
+EXCLUDE_PATTERNS       = 
+INPUT                  = ${${PROJECT_NAME}_SOURCE_DIR}/include \
+                         ${CMAKE_CURRENT_SOURCE_DIR}/additionalDoc
+
+#---------------------------------------------------------------------------
+# configuration options related to inserting images
+#---------------------------------------------------------------------------
+IMAGE_PATH = ${${PROJECT_NAME}_SOURCE_DIR}/doc/figures
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = NO
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = NO
+REFERENCES_RELATION    = NO
+VERBATIM_HEADERS       = NO
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+HTML_OUTPUT            = html
+HTML_STYLESHEET        = ${CMAKE_CURRENT_SOURCE_DIR}/package.css
+HTML_HEADER            = ${CMAKE_CURRENT_SOURCE_DIR}/header.html
+HTML_FOOTER            = ${CMAKE_CURRENT_SOURCE_DIR}/footer.html
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+GENERATE_LATEX         = NO
+USE_PDFLATEX           = YES
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+GENERATE_RTF           = NO
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+GENERATE_MAN           = NO
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+GENERATE_XML           = NO
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+GENERATE_PERLMOD       = NO
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references   
+#---------------------------------------------------------------------------
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool   
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = YES
+CLASS_GRAPH            = NO
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = YES
+INCLUDED_BY_GRAPH      = YES
+CALL_GRAPH             = NO
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = YES
+DOT_IMAGE_FORMAT       = png
+DOT_PATH               = 
+DOTFILE_DIRS           = 
+MAX_DOT_GRAPH_DEPTH    = 1000
+DOT_TRANSPARENT        = NO
+DOT_MULTI_TARGETS      = YES
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES

hppCore.pc.cmake

+prefix=${CMAKE_INSTALL_PREFIX}
+exec_prefix=${install_pkg_prefix}
+libdir=${install_pkg_exec_prefix}/lib
+includedir=${install_pkg_prefix}/include
+datarootdir=${install_pkg_prefix}/share
+docdir=${install_pkg_datarootdir}/doc/${PROJECT_NAME}
+
+Name: ${PROJECT_NAME}
+Description: Core classes of Humanoid Path Planner
+Version: ${PROJECT_VERSION}
+Requires: ${PACKAGE_REQUIREMENTS}
+Libs: ${LIBDIR_KW}${install_pkg_libdir} ${${PROJECT_NAME}_LDFLAGS}
+Cflags: -I${install_pkg_include_dir} ${${PROJECT_NAME}_CXXFLAGS}

include/CMakeLists.txt

+# 
+#  Copyright 2010 CNRS-LAAS
+#  Author: Florent Lamiraux
+# 
+
+SET(${PROJECT_NAME}_HEADERS
+  hppCore/hppColPair.h
+  hppCore/hppPlanner.h
+  hppCore/hppProblem.h
+)
+
+#----------------------------------------------------
+# Install procedure for the header files
+#----------------------------------------------------
+INSTALL(FILES ${${PROJECT_NAME}_HEADERS}
+  DESTINATION include/${PROJECT_NAME}
+  PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+)
+
+IF(${ENABLE_BODY} STREQUAL YES)
+  SET(${PROJECT_NAME}_HEADERS hppModel/hppModel/hppBody.h)
+  INSTALL(FILES ${${PROJECT_NAME}_HEADERS}
+    DESTINATION include/hppModel
+    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+    )
+ELSE(${ENABLE_BODY} STREQUAL YES)
+  SET(${PROJECT_NAME}_HEADERS 
+    hpp/core/parser.hh
+    hpp/core/fwd.hh
+    )
+  INSTALL(FILES ${${PROJECT_NAME}_HEADERS}
+    DESTINATION include/hpp/core
+    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+    )
+  
+ENDIF(${ENABLE_BODY} STREQUAL YES)

src/CMakeLists.txt

+#
+#  Copyright 2010 CNRS-LAAS
+#  Author: Florent Lamiraux
+#
+
+SET(LIBRARY_NAME ${PROJECT_NAME})
+
+# provide path to library libkwsPlus.so
+LINK_DIRECTORIES(${KWSPLUS_LIBRARY_DIRS})
+
+
+# provide path to library libhppModel.so
+LINK_DIRECTORIES(${HPPMODEL_LIBRARY_DIRS})
+
+SET(${LIBRARY_NAME}_SOURCE_FILES
+  hppColPair.cpp
+  hppPlanner.cpp
+  hppProblem.cpp
+  )
+
+SET(${LIBRARY_NAME}_LINK_LIBRARIES "")
+
+# Add kwsPlus compilation flags and link to library libkwsPlus.so
+ADD_DEFINITIONS(${KWSPLUS_CFLAGS})
+IF(UNIX)
+  SET(${LIBRARY_NAME}_LINK_LIBRARIES 
+    ${${LIBRARY_NAME}_LINK_LIBRARIES}  ${KWSPLUS_LIBRARIES})
+ENDIF(UNIX)
+
+IF(WIN32)
+  FOREACH(dlink ${KWSPLUS_LDFLAGS})
+    SET ( ${PROJECT_NAME}_src_LDFLAGS "${${PROJECT_NAME}_src_LDFLAGS}  ${dlink}")
+  ENDFOREACH(dlink)
+ENDIF(WIN32)
+
+IF(${ENABLE_BODY} STREQUAL YES)