89 lines
2.4 KiB
CMake
89 lines
2.4 KiB
CMake
# - Try to find URDF
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#
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#
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SET (URDF_FOUND FALSE)
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SET (CONSOLE_BRIDGE_FOUND FALSE)
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SET (URDFDOM_HEADERS_FOUND FALSE)
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SET (URDFDOM_FOUND FALSE)
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FIND_PATH (CONSOLE_BRIDGE_DIR console_bridge/console.h
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/usr/local/include
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/usr/include
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)
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FIND_LIBRARY (CONSOLE_BRIDGE_LIBRARY NAMES console_bridge PATHS
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/usr/local/include
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/usr/include
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)
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FIND_PATH (URDFDOM_HEADERS_DIR urdf_model/model.h
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/usr/local/include
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/usr/include
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)
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FIND_PATH (URDFDOM_DIR urdf_parser/urdf_parser.h
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/usr/local/include
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/usr/include
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)
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FIND_LIBRARY (URDFDOM_MODEL_LIBRARY NAMES urdfdom_model PATHS
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/usr/local/include
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/usr/include
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)
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FIND_LIBRARY (URDFDOM_WORLD_LIBRARY NAMES urdfdom_world PATHS
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/usr/local/include
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/usr/include
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)
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IF (NOT CONSOLE_BRIDGE_DIR OR NOT CONSOLE_BRIDGE_LIBRARY)
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MESSAGE(ERROR "Could not find URDF: console_bridge not found")
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ELSE (NOT CONSOLE_BRIDGE_DIR OR NOT CONSOLE_BRIDGE_LIBRARY)
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SET (CONSOLE_BRIDGE_FOUND TRUE)
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ENDIF (NOT CONSOLE_BRIDGE_DIR OR NOT CONSOLE_BRIDGE_LIBRARY)
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IF (NOT URDFDOM_HEADERS_DIR)
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MESSAGE(ERROR "Could not find URDF: urdfdom_headers not found")
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ELSE (NOT URDFDOM_HEADERS_DIR)
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SET (URDFDOM_HEADERS_FOUND TRUE)
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ENDIF (NOT URDFDOM_HEADERS_DIR)
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IF (NOT URDFDOM_DIR OR NOT URDFDOM_MODEL_LIBRARY OR NOT URDFDOM_WORLD_LIBRARY)
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MESSAGE(ERROR "Could not find URDF: urdfdom_model or urdfdom_world library not found")
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ELSE (NOT URDFDOM_DIR OR NOT URDFDOM_MODEL_LIBRARY OR NOT URDFDOM_WORLD_LIBRARY)
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SET (URDFDOM_FOUND TRUE)
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ENDIF (NOT URDFDOM_DIR OR NOT URDFDOM_MODEL_LIBRARY OR NOT URDFDOM_WORLD_LIBRARY)
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IF (CONSOLE_BRIDGE_FOUND AND URDFDOM_HEADERS_FOUND AND URDFDOM_FOUND)
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SET (URDF_FOUND TRUE)
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ENDIF (CONSOLE_BRIDGE_FOUND AND URDFDOM_HEADERS_FOUND AND URDFDOM_FOUND)
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IF (URDF_FOUND)
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IF (NOT URDF_FIND_QUIETLY)
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MESSAGE(STATUS "Found URDF console_bridge: ${CONSOLE_BRIDGE_LIBRARY}")
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MESSAGE(STATUS "Found URDF urdfdom_headers: ${URDFDOM_HEADERS_DIR}")
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MESSAGE(STATUS "Found URDF urdfdom: ${URDFDOM_LIBRARY}")
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ENDIF (NOT URDF_FIND_QUIETLY)
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SET (URDF_INCLUDE_DIRS
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${CONSOLE_BRIDGE_DIR}
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${URDFDOM_HEADERS_DIR}
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${URDFDOM_DIR}
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)
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SET (URDF_LIBRARIES
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${CONSOLE_BRIDGE_LIBRARY}
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${URDFDOM_WORLD_LIBRARY}
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${URDFDOM_MODEL_LIBRARY}
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)
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MESSAGE (STATUS "URDF Libraries: ${URDF_LIBRARIES}")
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ELSE (URDF_FOUND)
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IF (URDF_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find URDF")
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ENDIF (URDF_FIND_REQUIRED)
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ENDIF (URDF_FOUND)
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MARK_AS_ADVANCED (
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${URDF_INCLUDE_DIRS}
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${URDF_LIBRARIES}
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)
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