Commit c850fd62 authored by Justin Carpentier's avatar Justin Carpentier

cmake: start to support casadi

parent 8e8f0711
......@@ -61,6 +61,7 @@ OPTION (BUILD_WITH_COMMIT_VERSION "Build libraries by setting specific commit ve
OPTION(BUILD_WITH_URDF_SUPPORT "Build the library with the URDF format support" ON)
OPTION(BUILD_WITH_COLLISION_SUPPORT "Build the library with the Collision support (required HPP-FCL)" OFF)
OPTION(BUILD_WITH_AUTODIFF_SUPPORT "Build the library with the Automatic Differentiation support" OFF)
OPTION(BUILD_WITH_CASADI_SUPPORT "Build the library with the CASADI support" OFF)
OPTION(BUILD_WITH_CODEGEN_SUPPORT "Build the library with the Code Generation support" OFF)
OPTION (INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
......@@ -115,6 +116,15 @@ IF(CPPAD_FOUND)
ENDIF(CPPADCG_FOUND)
ENDIF(CPPAD_FOUND)
IF(BUILD_WITH_CASADI_SUPPORT)
ADD_REQUIRED_DEPENDENCY("casadi >= 3.4.5")
ENDIF(BUILD_WITH_CASADI_SUPPORT)
IF(CASADI_FOUND)
ADD_DEFINITIONS(-DPINOCCHIO_WITH_CASADI_SUPPORT)
PKG_CONFIG_APPEND_CFLAGS("-DPINOCCHIO_WITH_CASADI_SUPPORT")
ENDIF(CASADI_FOUND)
# Special care of urdfdom version
IF(URDFDOM_FOUND)
IF(${URDFDOM_VERSION} VERSION_LESS "0.3.0")
......
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