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#
# Copyright
#
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
SET(PROJECT_NAME sot-core)
project(${PROJECT_NAME})
SET(PROJECT_VERSION 1.0.0)
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 MatrixAbstractLayer
#
SET(MATRIXABSTRACTLAYER_FOUND 0)
SET(MATRIXABSTRACTLAYER_REQUIRED "MatrixAbstractLayer >= 1.8.0")
PKG_CHECK_MODULES(MATRIXABSTRACTLAYER REQUIRED ${MATRIXABSTRACTLAYER_REQUIRED})
EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS --variable=docdir MatrixAbstractLayer
OUTPUT_VARIABLE MATRIXABSTRACTLAYER_DOCDIR)
MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
MESSAGE(STATUS "MATRIXABSTRACTLAYER_DOCDIR=${MATRIXABSTRACTLAYER_DOCDIR}")
SET(MATRIXABSTRACTLAYER_FOUND 1)
IF(NOT ${MATRIXABSTRACTLAYER_FOUND})
MESSAGE(FATAL_ERROR "Check that package MatrixAbstractLayer is installed in a directory pointed out by PKG_CONFIG_PATH.")
ENDIF(NOT ${MATRIXABSTRACTLAYER_FOUND})
IF(PACKAGE_REQUIREMENTS STREQUAL "")
SET(PACKAGE_REQUIREMENTS ${MATRIXABSTRACTLAYER_REQUIRED})
ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${MATRIXABSTRACTLAYER_REQUIRED}")
ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
#
# Dependency to package dynamicsJRLJapan
#
SET(DYNAMICSJRLJAPAN_FOUND 0)
SET(DYNAMICSJRLJAPAN_REQUIRED "dynamicsJRLJapan >= 1.16.1")
PKG_CHECK_MODULES(DYNAMICSJRLJAPAN REQUIRED ${DYNAMICSJRLJAPAN_REQUIRED})
EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS --variable=docdir dynamicsJRLJapan
OUTPUT_VARIABLE DYNAMICSJRLJAPAN_DOCDIR)
MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
MESSAGE(STATUS "DYNAMICSJRLJAPAN_DOCDIR=${DYNAMICSJRLJAPAN_DOCDIR}")
SET(DYNAMICSJRLJAPAN_FOUND 1)
IF(NOT ${DYNAMICSJRLJAPAN_FOUND})
MESSAGE(FATAL_ERROR "Check that package dynamicsJRLJapan is installed in a directory pointed out by PKG_CONFIG_PATH.")
ENDIF(NOT ${DYNAMICSJRLJAPAN_FOUND})
IF(PACKAGE_REQUIREMENTS STREQUAL "")
SET(PACKAGE_REQUIREMENTS ${DYNAMICSJRLJAPAN_REQUIRED})
ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${DYNAMICSJRLJAPAN_REQUIRED}")
ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
#
# Dependency to package hrp2Dynamics
#
SET(HRP2DYNAMICS_FOUND 0)
SET(HRP2DYNAMICS_REQUIRED "hrp2Dynamics >= 1.3.0")
PKG_CHECK_MODULES(HRP2DYNAMICS REQUIRED ${HRP2DYNAMICS_REQUIRED})
EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS --variable=docdir hrp2Dynamics
OUTPUT_VARIABLE HRP2DYNAMICS_DOCDIR)
MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
MESSAGE(STATUS "HRP2DYNAMICS_DOCDIR=${HRP2DYNAMICS_DOCDIR}")
SET(HRP2DYNAMICS_FOUND 1)
IF(NOT ${HRP2DYNAMICS_FOUND})
MESSAGE(FATAL_ERROR "Check that package hrp2Dynamics is installed in a directory pointed out by PKG_CONFIG_PATH.")
ENDIF(NOT ${HRP2DYNAMICS_FOUND})
IF(PACKAGE_REQUIREMENTS STREQUAL "")
SET(PACKAGE_REQUIREMENTS ${HRP2DYNAMICS_REQUIRED})
ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${HRP2DYNAMICS_REQUIRED}")
ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
#
# Dependency to package walkGenJrl
#
SET(WALKGENJRL_FOUND 0)
SET(WALKGENJRL_REQUIRED "walkGenJrl >= 3.0.0")
PKG_CHECK_MODULES(WALKGENJRL REQUIRED ${WALKGENJRL_REQUIRED})
EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS --variable=docdir walkGenJrl
OUTPUT_VARIABLE WALKGENJRL_DOCDIR)
MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
MESSAGE(STATUS "WALKGENJRL_DOCDIR=${WALKGENJRL_DOCDIR}")
SET(WALKGENJRL_FOUND 1)
IF(NOT ${WALKGENJRL_FOUND})
MESSAGE(FATAL_ERROR "Check that package walkGenJrl is installed in a directory pointed out by PKG_CONFIG_PATH.")
ENDIF(NOT ${WALKGENJRL_FOUND})
IF(PACKAGE_REQUIREMENTS STREQUAL "")
SET(PACKAGE_REQUIREMENTS ${WALKGENJRL_REQUIRED})
ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${WALKGENJRL_REQUIRED}")
ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
#
# Dependency to package dynamic-graph
#
SET(DYNAMIC_GRAPH_FOUND 0)
SET(DYNAMIC_GRAPH_REQUIRED "dynamic-graph >= 1.0.0")
PKG_CHECK_MODULES(DYNAMIC_GRAPH REQUIRED ${DYNAMIC_GRAPH_REQUIRED})
EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS --variable=docdir dynamic-graph
OUTPUT_VARIABLE DYNAMIC_GRAPH_DOCDIR)
MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
MESSAGE(STATUS "DYNAMIC_GRAPH_DOCDIR=${DYNAMIC_GRAPH_DOCDIR}")
SET(DYNAMIC_GRAPH_FOUND 1)
IF(NOT ${DYNAMIC_GRAPH_FOUND})
MESSAGE(FATAL_ERROR "Check that package dynamic-graph is installed in a directory pointed out by PKG_CONFIG_PATH.")
ENDIF(NOT ${DYNAMIC_GRAPH_FOUND})
IF(PACKAGE_REQUIREMENTS STREQUAL "")
SET(PACKAGE_REQUIREMENTS ${DYNAMIC_GRAPH_REQUIRED})
ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${DYNAMIC_GRAPH_REQUIRED}")
ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
#
# Boost
#
FIND_PACKAGE(Boost REQUIRED)
include_directories(${Boost_INCLUDE_DIRS})
set(LIBS ${LIBS} ${Boost_LIBRARIES})
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#
# pkg-config file
#
SET(install_pkg_prefix "\${prefix}")
SET(install_pkg_exec_prefix "\${exec_prefix}")
SET(install_pkg_libdir "\${libdir}")
SET(install_pkg_datarootdir "\${datarootdir}")
SET(install_pkg_include_dir "\${includedir}")
IF(UNIX)
SET (${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 ${CMAKE_INSTALL_PREFIX}/lib/pkgconfig)
CONFIGURE_FILE(${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)
ADD_SUBDIRECTORY(unitTesting)
#
# Documentation produced by doxygen
#
IF(GENERATE_DOC)
INCLUDE(FindDoxygen)
IF(DOXYGEN_FOUND)
MESSAGE(STATUS "Doxygen found")
add_subdirectory(doc)
ENDIF(DOXYGEN_FOUND)
ENDIF(GENERATE_DOC)