Improve the choice of using or not the hrp2-dynamics library

src/CMakeLists.txt

@@ -13,6 +13,15 @@
 # received a copy of the GNU Lesser General Public License along with
 # sot-pattern-generator. If not, see <http://www.gnu.org/licenses/>.
 
+IF(HRP2_DYNAMICS_FOUND)
+  MESSAGE(STATUS "hrp2-dynamics: found")
+ELSE(NOT HRP2_DYNAMICS_FOUND)
+  MESSAGE(STATUS "hrp2-dynamics: not found")
+ENDIF(HRP2_DYNAMICS_FOUND)
+
+SET(WITH_HRP2_DYNAMICS "" CACHE STRING "Option to use HRP2-DYNAMICS robot in the PG" )
+
+
 INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
 
 ADD_DEFINITIONS(-DDEBUG=2)
@@ -105,8 +114,17 @@ FOREACH(LIBRARY_NAME ${plugins})
   PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} jrl-dynamics-urdf)
   PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} jrl-walkgen)
   PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} jrl-dynamics-urdf)
+
   IF(HRP2_DYNAMICS_FOUND)
     PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hrp2-dynamics)
+    IF(NOT ${WITH_HRP2_DYNAMICS} EQUAL "" )
+      TARGET_COMPILE_DEFINITIONS(${LIBRARY_NAME} PRIVATE WITH_HRP2DYNAMICS=1)
+    ENDIF(NOT ${WITH_HRP2_DYNAMICS} EQUAL "" )
+  ENDIF(HRP2_DYNAMICS_FOUND)
+
+  IF(HRP2_DYNAMICS_FOUND)
+    PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hrp2-dynamics)
+    #TARGET_COMPILE_DEFINITIONS(${LIBRARY_NAME} PRIVATE WITH_HRP2DYNAMICS=1)
   ENDIF(HRP2_DYNAMICS_FOUND)
   PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} sot-core)
 
@@ -120,7 +138,6 @@ FOREACH(LIBRARY_NAME ${plugins})
 
 ENDFOREACH(LIBRARY_NAME)
 
-
 # --- PY ---
 # Install lonely files
 SET(PYTHON_MODULE dynamic_graph/sot/pattern_generator)

src/pg.cpp

@@ -18,7 +18,7 @@
  * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
 
 //#define VP_DEBUG
-#define VP_DEBUG_MODE 45
+//#define VP_DEBUG_MODE 45
 #include <sot/core/debug.hh>
 #ifdef VP_DEBUG
  class sotPG__INIT
@@ -33,7 +33,7 @@
 #include <jrl/dynamics/dynamicsfactory.hh>
 
 #ifdef WITH_HRP2DYNAMICS
-#  include <hrp2Dynamics/hrp2Opthumanoid-dynamic-robot.hh>
+#  include <hrp2-dynamics/hrp2OptHumanoidDynamicRobot.h>
 #endif
 
 #include <dynamic-graph/factory.h>
@@ -505,11 +505,12 @@ namespace dynamicgraph {
       dynamicsJRLJapan::ObjectFactory aRobotDynamicsObjectConstructor;
       CjrlHumanoidDynamicRobot * aHDR = 0;
 
-#ifndef WITH_HRP2DYNAMICS
+#ifndef WITH_HRP2DYNAMICS // WITH_HRP2DYNAMICS is not defined
       aHDR = aRobotDynamicsObjectConstructor.createHumanoidDynamicRobot();
-#else
-      aHDR = new Chrp2OptHumanoidDynamicRobot(&aRobotDynamicsObjectConstructor);
-#endif
+#else // WITH_HRP2DYNAMICS is defined
+      Chrp2OptHumanoidDynamicRobot *aHRP2HDR = new Chrp2OptHumanoidDynamicRobot(&aRobotDynamicsObjectConstructor) ;
+      aHDR = aHRP2HDR ;
+#endif // end "if WITH_HRP2DYNAMICS defined"
 
       // Parsing the file.
       string RobotFileName = m_vrmlDirectory + m_vrmlMainFile;