2021-10-16 19:35:05 +02:00
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CMAKE_MINIMUM_REQUIRED(VERSION 3.0)
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2020-10-03 22:55:14 +02:00
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SET ( RBDL_VERSION_MAJOR 2 )
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SET ( RBDL_VERSION_MINOR 6 )
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SET ( RBDL_VERSION_PATCH 0 )
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SET ( RBDL_VERSION
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${RBDL_VERSION_MAJOR}.${RBDL_VERSION_MINOR}.${RBDL_VERSION_PATCH}
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)
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SET ( RBDL_SO_VERSION
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${RBDL_VERSION_MAJOR}.${RBDL_VERSION_MINOR}.${RBDL_VERSION_PATCH}
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)
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SET (PROJECT_VERSION ${RBDL_VERSION})
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PROJECT (RBDL VERSION ${RBDL_VERSION})
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LIST( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMake )
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INCLUDE_DIRECTORIES (
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${CMAKE_CURRENT_BINARY_DIR}/include
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)
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# SET (CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
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INCLUDE(GNUInstallDirs)
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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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# Set a default build type to 'Release' if none was specified
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IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
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MESSAGE(STATUS "Setting build type to 'Release' as none was specified.")
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SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
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# Set the possible values of build type for cmake-gui
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SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
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ENDIF()
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# Find and use the system's Eigen3 library
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FIND_PACKAGE (Eigen3 3.0.0)
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IF (NOT EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH)
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MESSAGE (WARNING "Could not find Eigen3 on your system. Install it or use the slower SimpleMath library by enabling RBDL_USE_SIMPLE_MATH.")
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ENDIF (NOT EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH)
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IF (EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH)
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INCLUDE_DIRECTORIES (SYSTEM ${EIGEN3_INCLUDE_DIR})
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ENDIF (EIGEN3_FOUND AND NOT RBDL_USE_SIMPLE_MATH)
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# Options
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SET (RBDL_BUILD_STATIC_DEFAULT OFF)
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IF (MSVC)
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SET (RBDL_BUILD_STATIC_DEFAULT ON)
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ENDIF (MSVC)
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OPTION (RBDL_BUILD_STATIC "Build statically linked library (otherwise dynamiclly linked)" ${RBDL_BUILD_STATIC_DEFAULT})
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OPTION (RBDL_BUILD_TESTS "Build the test executables" OFF)
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OPTION (RBDL_ENABLE_LOGGING "Enable logging (warning: major impact on performance!)" OFF)
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OPTION (RBDL_USE_SIMPLE_MATH "Use slow math instead of the fast Eigen3 library (faster compilation)" OFF)
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OPTION (RBDL_STORE_VERSION "Enable storing of version information in the library (requires build from valid repository)" OFF)
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OPTION (RBDL_BUILD_ADDON_URDFREADER "Build the (experimental) urdf reader" OFF)
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OPTION (RBDL_BUILD_ADDON_BENCHMARK "Build the benchmarking tool" OFF)
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OPTION (RBDL_BUILD_ADDON_LUAMODEL "Build the lua model reader" OFF)
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OPTION (RBDL_BUILD_PYTHON_WRAPPER "Build experimental python wrapper" OFF)
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OPTION (RBDL_USE_PYTHON_2 "Use python 2 instead of python 3" OFF)
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OPTION (RBDL_BUILD_ADDON_GEOMETRY "Build the geometry library" OFF)
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OPTION (RBDL_BUILD_ADDON_MUSCLE "Build the muscle library" OFF)
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OPTION (RBDL_BUILD_ADDON_MUSCLE_FITTING "Build muscle library fitting functions (requires Ipopt)" OFF)
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SET (RBDL_BUILD_COMPILER_ID ${CMAKE_CXX_COMPILER_ID})
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SET (RBDL_BUILD_COMPILER_VERSION ${CMAKE_CXX_COMPILER_VERSION})
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# Addons
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IF (RBDL_BUILD_ADDON_URDFREADER)
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ADD_SUBDIRECTORY ( addons/urdfreader )
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ENDIF (RBDL_BUILD_ADDON_URDFREADER)
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IF (RBDL_BUILD_ADDON_BENCHMARK)
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ADD_SUBDIRECTORY ( addons/benchmark )
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ENDIF (RBDL_BUILD_ADDON_BENCHMARK)
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IF (RBDL_BUILD_ADDON_LUAMODEL)
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ADD_SUBDIRECTORY ( addons/luamodel )
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ENDIF (RBDL_BUILD_ADDON_LUAMODEL)
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IF(RBDL_BUILD_ADDON_MUSCLE)
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SET(RBDL_BUILD_ADDON_GEOMETRY ON CACHE BOOL "Build the geometry library" FORCE)
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IF (RBDL_BUILD_ADDON_MUSCLE_FITTING)
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SET(CUSTOM_IPOPT_PATH "" CACHE PATH "Path to specific IPOPT Installation")
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ENDIF (RBDL_BUILD_ADDON_MUSCLE_FITTING)
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ADD_SUBDIRECTORY ( addons/muscle )
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IF(RBDL_BUILD_TESTS)
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ADD_SUBDIRECTORY ( addons/muscle/tests )
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ENDIF(RBDL_BUILD_TESTS)
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ENDIF(RBDL_BUILD_ADDON_MUSCLE)
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IF(RBDL_BUILD_ADDON_GEOMETRY)
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ADD_SUBDIRECTORY ( addons/geometry )
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IF(RBDL_BUILD_TESTS)
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ADD_SUBDIRECTORY ( addons/geometry/tests )
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ENDIF(RBDL_BUILD_TESTS)
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ENDIF(RBDL_BUILD_ADDON_GEOMETRY)
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IF (RBDL_BUILD_TESTS)
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ADD_SUBDIRECTORY ( tests )
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ENDIF (RBDL_BUILD_TESTS)
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# Source files for RBDL
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SET ( RBDL_SOURCES
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src/rbdl_version.cc
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src/rbdl_mathutils.cc
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src/rbdl_utils.cc
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src/Constraints.cc
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src/Dynamics.cc
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src/Logging.cc
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src/Joint.cc
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src/Model.cc
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src/Kinematics.cc
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)
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IF (MSVC AND NOT RBDL_BUILD_STATIC)
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MESSAGE (FATAL_ERROR, "Compiling RBDL as a DLL currently not supported. Please enable RBDL_BUILD_STATIC.")
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ENDIF (MSVC AND NOT RBDL_BUILD_STATIC)
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# Static / dynamic builds
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IF (RBDL_BUILD_STATIC)
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ADD_LIBRARY ( rbdl-static STATIC ${RBDL_SOURCES} )
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IF (NOT WIN32)
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SET_TARGET_PROPERTIES ( rbdl-static PROPERTIES PREFIX "lib")
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ENDIF (NOT WIN32)
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SET_TARGET_PROPERTIES ( rbdl-static PROPERTIES
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OUTPUT_NAME "rbdl"
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CXX_STANDARD 11
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CXX_STANDARD_REQUIRED ON
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CXX_EXTENSIONS OFF
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)
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IF (RBDL_BUILD_ADDON_LUAMODEL)
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TARGET_LINK_LIBRARIES ( rbdl-static
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rbdl_luamodel-static
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)
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ENDIF (RBDL_BUILD_ADDON_LUAMODEL)
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INSTALL (TARGETS rbdl-static
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
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)
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ELSE (RBDL_BUILD_STATIC)
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ADD_LIBRARY ( rbdl SHARED ${RBDL_SOURCES} )
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SET_TARGET_PROPERTIES ( rbdl PROPERTIES
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VERSION ${RBDL_VERSION}
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SOVERSION ${RBDL_SO_VERSION}
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CXX_STANDARD 11
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CXX_STANDARD_REQUIRED ON
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CXX_EXTENSIONS OFF
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)
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INSTALL (TARGETS rbdl
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
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)
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ENDIF (RBDL_BUILD_STATIC)
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IF (RBDL_STORE_VERSION)
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# Set versioning information that can be queried during runtime
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EXECUTE_PROCESS(COMMAND "git" "rev-parse" "HEAD"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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OUTPUT_VARIABLE RBDL_BUILD_COMMIT)
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STRING(REGEX REPLACE "\n$" "" RBDL_BUILD_COMMIT "${RBDL_BUILD_COMMIT}")
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EXECUTE_PROCESS(COMMAND "git" "describe" "--all" "--dirty" "--long"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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OUTPUT_VARIABLE RBDL_BUILD_BRANCH)
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STRING(REGEX REPLACE "\n$" "" RBDL_BUILD_BRANCH "${RBDL_BUILD_BRANCH}")
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SET (RBDL_BUILD_TYPE ${CMAKE_BUILD_TYPE})
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ELSE (RBDL_STORE_VERSION)
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SET (RBDL_BUILD_COMMIT "unknown")
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SET (RBDL_BUILD_BRANCH "unknown")
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SET (RBDL_BUILD_TYPE "unknown")
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ENDIF (RBDL_STORE_VERSION)
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CONFIGURE_FILE (
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"${CMAKE_CURRENT_SOURCE_DIR}/include/rbdl/rbdl_config.h.cmake"
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"${CMAKE_CURRENT_BINARY_DIR}/include/rbdl/rbdl_config.h"
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)
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# Python wrapper
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IF (RBDL_BUILD_PYTHON_WRAPPER)
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add_subdirectory ( python )
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ENDIF (RBDL_BUILD_PYTHON_WRAPPER)
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# Installation
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FILE ( GLOB headers
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${CMAKE_CURRENT_SOURCE_DIR}/include/rbdl/*.h
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${CMAKE_CURRENT_BINARY_DIR}/include/rbdl/rbdl_config.h
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)
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INSTALL ( FILES ${headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/rbdl )
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# Setup of SimpleMath install settings
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IF (RBDL_USE_SIMPLE_MATH)
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INSTALL ( DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/include/rbdl/SimpleMath"
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DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/rbdl
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)
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ENDIF (RBDL_USE_SIMPLE_MATH)
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# pkg-config
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CONFIGURE_FILE (
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${CMAKE_CURRENT_SOURCE_DIR}/rbdl.pc.cmake
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${CMAKE_CURRENT_BINARY_DIR}/rbdl.pc @ONLY
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)
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INSTALL (
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FILES ${CMAKE_CURRENT_BINARY_DIR}/rbdl.pc
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DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
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)
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# Packaging
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SET(CPACK_GENERATOR "DEB")
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SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Martin Felis <martin@fysx.org>")
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SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "the Rigid Body Dynamics Library (RBDL)")
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SET(CPACK_PACKAGE_VENDOR "Martin Felis")
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SET(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
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SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
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SET(CPACK_PACKAGE_VERSION_MAJOR ${RBDL_VERSION_MAJOR})
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SET(CPACK_PACKAGE_VERSION_MINOR ${RBDL_VERSION_MINOR})
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SET(CPACK_PACKAGE_VERSION_PATCH ${RBDL_VERSION_PATCH})
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SET(CPACK_PACKAGE_INSTALL_DIRECTORY "CPACK_PACKAGE ${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}")
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SET(CPACK_PACKAGE_FILE_NAME "rbdl-${CMAKE_LIBRARY_ARCHITECTURE}-${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
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SET(CPACK_PACKAGE_EXECUTABLES "rbdl_luamodel_util;RBDL Lua Model Utility")
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INCLUDE(CPack)
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