115 lines
3.3 KiB
CMake
115 lines
3.3 KiB
CMake
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CMAKE_MINIMUM_REQUIRED(VERSION 3.0)
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LIST( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMake )
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SET_TARGET_PROPERTIES ( ${PROJECT_EXECUTABLES} PROPERTIES
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LINKER_LANGUAGE CXX
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)
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INCLUDE_DIRECTORIES (
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${CMAKE_CURRENT_BINARY_DIR}/include/rbdl
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${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/
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)
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SET ( URDFREADER_SOURCES
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urdfreader.cc
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)
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IF (DEFINED ENV{ROS_ROOT})
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MESSAGE (STATUS "ROS found: $ENV{ROS_ROOT}")
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find_package(catkin REQUIRED COMPONENTS urdf)
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OPTION (RBDL_USE_ROS_URDF_LIBRARY "Use the URDF library provided by ROS" ON)
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ELSE ()
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SET (RBDL_USE_ROS_URDF_LIBRARY FALSE)
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ENDIF ()
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IF (RBDL_USE_ROS_URDF_LIBRARY)
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# find_package(Boost REQUIRED COMPONENTS system)
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SET (URDFREADER_DEPENDENCIES
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rbdl
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${urdf_LIBRARIES}
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# ${Boost_SYSTEM_LIBRARY}
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)
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ELSE()
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SET (URDFREADER_SOURCES
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${URDFREADER_SOURCES}
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thirdparty/urdf/urdfdom/urdf_parser/src/check_urdf.cpp
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thirdparty/urdf/urdfdom/urdf_parser/src/pose.cpp
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thirdparty/urdf/urdfdom/urdf_parser/src/model.cpp
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thirdparty/urdf/urdfdom/urdf_parser/src/link.cpp
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thirdparty/urdf/urdfdom/urdf_parser/src/joint.cpp
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thirdparty/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h
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thirdparty/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h
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thirdparty/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h
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thirdparty/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h
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thirdparty/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h
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thirdparty/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h
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thirdparty/tinyxml/tinystr.cpp
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thirdparty/tinyxml/tinyxml.cpp
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thirdparty/tinyxml/tinyxmlerror.cpp
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thirdparty/tinyxml/tinyxmlparser.cpp
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thirdparty/urdf/boost_replacement/lexical_cast.h
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thirdparty/urdf/boost_replacement/shared_ptr.h
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thirdparty/urdf/boost_replacement/printf_console.cpp
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thirdparty/urdf/boost_replacement/printf_console.h
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thirdparty/urdf/boost_replacement/string_split.cpp
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thirdparty/urdf/boost_replacement/string_split.h
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)
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SET (URDFREADER_DEPENDENCIES
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rbdl
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)
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ENDIF()
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ADD_EXECUTABLE (rbdl_urdfreader_util rbdl_urdfreader_util.cc)
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IF (RBDL_BUILD_STATIC)
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ADD_LIBRARY ( rbdl_urdfreader-static STATIC ${URDFREADER_SOURCES} )
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IF (NOT WIN32)
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SET_TARGET_PROPERTIES ( rbdl_urdfreader-static PROPERTIES PREFIX "lib")
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ENDIF (NOT WIN32)
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SET_TARGET_PROPERTIES ( rbdl_urdfreader-static PROPERTIES OUTPUT_NAME "rbdl_urdfreader")
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TARGET_LINK_LIBRARIES (rbdl_urdfreader-static
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rbdl-static
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)
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TARGET_LINK_LIBRARIES (rbdl_urdfreader_util
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rbdl_urdfreader-static
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rbdl-static
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)
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INSTALL (TARGETS rbdl_urdfreader-static rbdl_urdfreader_util
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RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
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ARCHIVE DESTINATION ${CMAKE_INSTALL_BINDIR}
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)
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ELSE (RBDL_BUILD_STATIC)
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ADD_LIBRARY ( rbdl_urdfreader SHARED ${URDFREADER_SOURCES} )
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SET_TARGET_PROPERTIES ( rbdl_urdfreader PROPERTIES
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VERSION ${RBDL_VERSION}
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SOVERSION ${RBDL_SO_VERSION}
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)
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TARGET_LINK_LIBRARIES (rbdl_urdfreader
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${URDFREADER_DEPENDENCIES}
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)
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TARGET_LINK_LIBRARIES (rbdl_urdfreader_util
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rbdl_urdfreader
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)
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INSTALL (TARGETS rbdl_urdfreader rbdl_urdfreader_util
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RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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)
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ENDIF (RBDL_BUILD_STATIC)
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FILE ( GLOB headers
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"${CMAKE_CURRENT_SOURCE_DIR}/*.h"
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)
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INSTALL ( FILES ${headers}
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DESTINATION
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${CMAKE_INSTALL_INCLUDEDIR}/rbdl/addons/urdfreader
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)
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