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#
# Copyright (c) 2014 CNRS-LAAS
# Author: Florent Lamiraux
#

FCL_REPO=https://github.com/flexible-collision-library
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LAAS_REPO=https://github.com/laas
HPP_REPO=https://github.com/humanoid-path-planner
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SOT_REPO=https://github.com/stack-of-tasks
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RETHINK_ROBOTICS_REPO=https://github.com/RethinkRobotics
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TRAC_REPO=ssh://trac.laas.fr/git/jrl/robots/ros-hrp2
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SRC_DIR=${DEVEL_HPP_DIR}/src
ifndef INSTALL_HPP_DIR
INSTALL_HPP_DIR=${DEVEL_HPP_DIR}/install
endif
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# Whether to compute humanoid specific part
HUMANOID=TRUE

BUILD_TYPE=Release
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ifeq (${BUILD_TYPE},Debug)
  BUILD_FOLDER=build
else
  BUILD_FOLDER=build-rel
endif
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OSG_PACKAGE=OpenSceneGraph-dae-plugin
#OSG_PACKAGE=OpenSceneGraph-3.4.0
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WGET=wget --quiet
UNZIP=unzip -qq
TAR=tar
GIT_QUIET=--quiet
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# Qt version should be either 4 or 5
QT_VERSION=4
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INSTALL_DOCUMENTATION=ON
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hpp-fcl_branch=devel
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hpp-fcl_repository=${HPP_REPO}
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hpp-fcl_extra_flags= -DCMAKE_BUILD_TYPE=Release
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hpp-util_branch=devel
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hpp-util_repository=${HPP_REPO}

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pinocchio_branch=devel
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pinocchio_repository=${SOT_REPO}
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pinocchio_extra_flags= -DBUILD_PYTHON_INTERFACE=OFF -DBUILD_UNIT_TESTS=OFF
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hpp-pinocchio_branch=devel
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hpp-pinocchio_repository=${HPP_REPO}
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hpp-pinocchio_extra_flags=-DDISABLE_TESTS=ON
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hpp-statistics_branch=devel
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hpp-statistics_repository=${HPP_REPO}
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hpp-core_branch=devel
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hpp-core_repository=${HPP_REPO}
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hpp-core_extra_flags=-DDISABLE_TESTS=ON
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hpp-template-corba_branch=devel
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hpp-template-corba_repository=${HPP_REPO}
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hpp-corbaserver_branch=devel
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hpp-corbaserver_repository=${HPP_REPO}
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qpOASES_branch=devel
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qpOASES_repository=${HPP_REPO}

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hpp-constraints_branch=devel
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hpp-constraints_repository=${HPP_REPO}
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hpp-constraints_extra_flags=-DDISABLE_TESTS=ON
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hpp-walkgen_branch=devel
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hpp-walkgen_repository=${HPP_REPO}

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hpp-wholebody-step_branch=devel
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hpp-wholebody-step_repository=${HPP_REPO}

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hpp-wholebody-step-corba_branch=devel
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hpp-wholebody-step-corba_repository=${HPP_REPO}

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test-hpp_branch=devel
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test-hpp_repository=${HPP_REPO}
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hrp2-14-description_branch=master
hrp2-14-description_repository=${TRAC_REPO}
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hpp-hrp2_branch=devel
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hpp-hrp2_repository=${HPP_REPO}
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robot_capsule_urdf_branch=groovy
robot_capsule_urdf_repository=${LAAS_REPO}

robot_model_py_branch=groovy
robot_model_py_repository=${LAAS_REPO}

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hpp-doc_branch=devel
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hpp-doc_repository=${HPP_REPO}
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hpp-manipulation_branch=devel
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hpp-manipulation_repository=${HPP_REPO}
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hpp-manipulation-urdf_branch=devel
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hpp-manipulation-urdf_repository=${HPP_REPO}
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hpp-manipulation-corba_branch=devel
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hpp-manipulation-corba_repository=${HPP_REPO}
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iai_maps_branch=devel
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iai_maps_repository=${HPP_REPO}

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hpp_tutorial_branch=devel
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hpp_tutorial_repository=${HPP_REPO}
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hpp_benchmark_branch=master
hpp_benchmark_repository=${HPP_REPO}
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collada-dom_branch=master
collada-dom_repository=${HPP_REPO}

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OpenSceneGraph-dae-plugin_branch=master
OpenSceneGraph-dae-plugin_repository=${HPP_REPO}

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gepetto-viewer_branch=devel
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gepetto-viewer_repository=${HPP_REPO}

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gepetto-viewer-corba_branch=devel
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gepetto-viewer-corba_repository=${HPP_REPO}
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ifeq (${QT_VERSION}, 5)
  gepetto-viewer-corba_extra_flags= -DUSE_QT4=OFF
endif
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hpp-gepetto-viewer_branch=devel
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hpp-gepetto-viewer_repository=${HPP_REPO}
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pythonqt_branch=qt${QT_VERSION}
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pythonqt_repository=${HPP_REPO}
pythonqt_extra_flags= -DPythonQt_Wrap_QtAll=ON -DPythonQt_Extensions=ON

qgv_branch=devel
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qgv_repository=${HPP_REPO}

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hpp-environments_branch=devel
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hpp-environments_repository=${HPP_REPO}

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universal_robot_branch=kinetic
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universal_robot_repository=${HPP_REPO}

hpp_universal_robot_branch=devel
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hpp_universal_robot_repository=${HPP_REPO}
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baxter_common_branch=master
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baxter_common_repository=${RETHINK_ROBOTICS_REPO}
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hpp-baxter_branch=master
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hpp-baxter_repository=${HPP_REPO}

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hpp_romeo_branch=master
hpp_romeo_repository=${HPP_REPO}

romeo_branch=master
romeo_repository=${HPP_REPO}

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OpenSceneGraph-dae-plugin_extra_flags= -DCOLLADA_DYNAMIC_LIBRARY=${INSTALL_HPP_DIR}/lib/libcollada14dom.so -DCOLLADA_INCLUDE_DIR=${INSTALL_HPP_DIR}/include/collada-dom
OpenSceneGraph-3.4.0_extra_flags= -DDESIRED_QT_VERSION=${QT_VERSION} -DCOLLADA_DYNAMIC_LIBRARY=${INSTALL_HPP_DIR}/lib/libcollada14dom.so -DCOLLADA_INCLUDE_DIR=${INSTALL_HPP_DIR}/include/collada-dom -DLIB_POSTFIX=""
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collada-dom_extra_flags=-DBUILD_SHARED_LIBS=TRUE -DOPT_COLLADA15=FALSE

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roboptim-core-3.1_extra_flags= -DCMAKE_BUILD_TYPE=Release -DCXX_DISABLE_WERROR=ON
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roboptim-trajectory-3.1_extra_flags= -DCMAKE_BUILD_TYPE=Release -DCXX_DISABLE_WERROR=ON
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qpOASES_extra_flags= -DCMAKE_BUILD_TYPE=Release

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ifeq (${HUMANOID}, TRUE)
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  hpp-manipulation_extra_flags=-DHPP_MANIPULATION_HAS_WHOLEBODY_STEP=TRUE
  hpp-manipulation-corba_extra_flags=-DHPP_MANIPULATION_HAS_WHOLEBODY_STEP=TRUE
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else
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  hpp-manipulation_extra_flags=-DHPP_MANIPULATION_HAS_WHOLEBODY_STEP=FALSE
  hpp-manipulation-corba_extra_flags=-DHPP_MANIPULATION_HAS_WHOLEBODY_STEP=FALSE
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endif

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all: hpp_tutorial.install hpp-gepetto-viewer.install
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	${MAKE} hpp-doc.install
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# For test on gepgitlab, install robot packages first
test-ci: baxter_common.install romeo.install universal_robot.install \
	hpp-environments.install
	${MAKE} hpp_tutorial.install hpp-gepetto-viewer.install \
	hpp_universal_robot.install; \
	${MAKE} hpp-doc.install

# For benchmark, install robot packages first
benchmark: baxter_common.install romeo.install universal_robot.install \
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	hpp-environments.install hrp2-14-description.install
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	${MAKE} hpp_tutorial.install hpp-gepetto-viewer.install; \
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	${MAKE} hpp-baxter.install hpp_romeo.install \
	hpp_universal_robot.install hpp-hrp2.install; \
	${MAKE} hpp_benchmark.checkout; \
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	${MAKE} hpp-doc.install
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hpp-doc.configure.dep: hpp-doc.checkout
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hpp-fcl.configure.dep: hpp-fcl.checkout
roboptim-core-3.1.configure.dep: roboptim-core-3.1.checkout
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roboptim-trajectory-3.1.configure.dep: roboptim-core-3.1.install \
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	roboptim-trajectory-3.1.checkout
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hpp-walkgen.configure.dep: hpp-util.install hpp-core.install \
        roboptim-trajectory-3.1.install hpp-walkgen.checkout
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hpp-util.configure.dep: hpp-util.checkout
hpp-model-urdf.configure.dep: hpp-model.install hpp-model-urdf.checkout
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pinocchio.configure.dep: hpp-fcl.install pinocchio.checkout
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hpp-pinocchio.configure.dep: pinocchio.install hpp-util.install \
	hpp-pinocchio.checkout
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hpp-statistics.configure.dep: hpp-util.install hpp-statistics.checkout
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hpp-core.configure.dep: hpp-constraints.install hpp-statistics.install \
	hpp-core.checkout
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qpOASES.configure.dep: qpOASES.checkout
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hpp-constraints.configure.dep: qpOASES.install \
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	hpp-pinocchio.install hpp-statistics.install hpp-constraints.checkout
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hpp-wholebody-step.configure.dep: hpp-constraints.install hpp-walkgen.install \
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	hpp-wholebody-step.checkout
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ifeq (${HUMANOID}, TRUE)
hpp-manipulation.configure.dep: hpp-core.install hpp-constraints.install \
	hpp-wholebody-step.install hpp-manipulation.checkout
hpp-manipulation-corba.configure.dep: hpp-manipulation-urdf.install \
	hpp-wholebody-step-corba.install hpp-manipulation.install \
	hpp-manipulation-corba.checkout
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hpp-plot.configure.dep: hpp-corbaserver.install hpp-manipulation-corba.install \
	hpp-wholebody-step-corba.install qgv.install \
	hpp-plot.checkout
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else
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hpp-manipulation.configure.dep: hpp-core.install hpp-constraints.install \
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	hpp-manipulation.checkout
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hpp-manipulation-corba.configure.dep: hpp-manipulation-urdf.install \
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	hpp-manipulation.install hpp-corbaserver.install \
	hpp-template-corba.install hpp-manipulation-corba.checkout
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hpp-plot.configure.dep: hpp-corbaserver.install hpp-manipulation-corba.install \
	qgv.install hpp-plot.checkout
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endif
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hpp-manipulation-urdf.configure.dep:hpp-manipulation.install \
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	hpp-manipulation-urdf.checkout
hpp-corbaserver.configure.dep: hpp-core.install \
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	hpp-constraints.install hpp-corbaserver.checkout
hpp-wholebody-step-corba.configure.dep: hpp-corbaserver.install \
	hpp-wholebody-step.install hpp-template-corba.install \
	hpp-wholebody-step-corba.checkout
hpp-template-corba.configure.dep: hpp-util.install hpp-template-corba.checkout
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qgv.configure.dep: qgv.checkout
pythonqt.configure.dep: pythonqt.checkout
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robot_model_py.configure.dep: robot_model_py.checkout
robot_capsule_urdf.configure.dep: robot_model_py.install \
	robot_capsule_urdf.checkout
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hpp-hrp2.configure.dep: hrp2-14-description.install hpp-corbaserver.install \
	hpp-hrp2.checkout
hrp2-14-description.configure.dep: robot_capsule_urdf.install \
	robot_model_py.install hrp2-14-description.checkout
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test-hpp.configure.dep: hpp-wholebody-step-corba.install \
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	hpp-gepetto-viewer.install hpp-hrp2.install test-hpp.checkout
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iai_maps.configure.dep: iai_maps.checkout
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hpp_tutorial.configure.dep: hpp-gepetto-viewer.install iai_maps.install \
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	hpp-manipulation-corba.install hpp_tutorial.checkout
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hpp_benchmark.configure.dep: hpp_benchmark.checkout
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collada-dom.configure.dep: collada-dom.checkout
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OpenSceneGraph-dae-plugin.configure.dep: collada-dom.install \
	OpenSceneGraph-dae-plugin.checkout
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OpenSceneGraph-3.4.0.configure.dep: collada-dom.install \
	OpenSceneGraph-3.4.0.checkout
gepetto-viewer.configure.dep: ${OSG_PACKAGE}.install \
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	gepetto-viewer.checkout
gepetto-viewer-corba.configure.dep: gepetto-viewer.install \
	gepetto-viewer-corba.checkout
hpp-gepetto-viewer.configure.dep: gepetto-viewer-corba.install \
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	hpp-corbaserver.install \
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	hpp-gepetto-viewer.checkout
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universal_robot.configure.dep: universal_robot.checkout
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hpp_universal_robot.configure.dep: universal_robot.install \
	hpp_universal_robot.checkout
hpp-environments.configure.dep: hpp-environments.checkout
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baxter_common.configure.dep: baxter_common.checkout
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hpp-baxter.configure.dep: baxter_common.install hpp-baxter.checkout
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pythonqt.configure.dep: pythonqt.checkout
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hpp_romeo.configure.dep: romeo.install hpp_romeo.checkout
romeo.configure.dep: romeo.checkout
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status:
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	@for child_dir in $$(ls ${SRC_DIR}); do \
		test -d "$$child_dir" || continue; \
		test -d "$$child_dir/.git" || continue; \
		cd "$$child_dir";\
		echo \
		"\033[1;36m------- Folder $$child_dir ---------------\033[0m"; \
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		git --no-pager -c status.showUntrackedFiles=no status --short --branch; \
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		cd ..; \
	done
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log:
	@for child_dir in $$(ls ${SRC_DIR}); do \
		test -d "$$child_dir" || continue; \
		test -d "$$child_dir/.git" || continue; \
		${MAKE} "$$child_dir".log; \
	done

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update:
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	@for child_dir in $$(ls ${SRC_DIR}); do \
		test -d "$$child_dir" || continue; \
		test -d "$$child_dir/.git" || continue; \
		${MAKE} "$$child_dir".update; \
	done
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%.checkout:
	if [ -d $(@:.checkout=) ]; then \
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		echo "$(@:.checkout=) already checkout out."; \
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	else \
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		git clone ${GIT_QUIET} --recursive -b ${$(@:.checkout=)_branch} ${$(@:.checkout=)_repository}/$(@:.checkout=); \
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	fi \

%.update:
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	if [ "${$(@:.update=)_repository}" = "" ]; then \
		echo "$(@:.update=) is not referenced"; \
	else \
		cd ${SRC_DIR}/$(@:.update=);\
		git remote rm origin;\
		git remote add origin ${$(@:.update=)_repository}/$(@:.update=);\
		git fetch origin;\
		git checkout -b bce46g origin/${$(@:.update=)_branch};\
		git branch -D ${$(@:.update=)_branch};\
		git checkout -b ${$(@:.update=)_branch} bce46g;\
		git branch -D bce46g;\
		git submodule update; \
	fi

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%.configure: %.configure.dep
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	${MAKE} $(@:.configure=).configure_nodep
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%.configure_nodep:%.checkout
	mkdir -p ${SRC_DIR}/$(@:.configure_nodep=)/${BUILD_FOLDER}; \
	cd ${SRC_DIR}/$(@:.configure_nodep=)/${BUILD_FOLDER}; \
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	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_HPP_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
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			-DINSTALL_DOCUMENTATION=${INSTALL_DOCUMENTATION} \
			-DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" \
			${$(@:.configure_nodep=)_extra_flags} ..
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%.install:%.configure
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	${MAKE} -C ${SRC_DIR}/$(@:.install=)/${BUILD_FOLDER} install

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%.install_nodep:%.configure_nodep
	${MAKE} -C ${SRC_DIR}/$(@:.install_nodep=)/${BUILD_FOLDER} install
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%.uninstall:
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	${MAKE} -C ${SRC_DIR}/$(@:.uninstall=)/${BUILD_FOLDER} uninstall
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%.clean:
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	${MAKE} -C ${SRC_DIR}/$(@:.clean=)/${BUILD_FOLDER} clean
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%.very-clean:
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	rm -rf ${SRC_DIR}/$(@:.very-clean=)/${BUILD_FOLDER}/*
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%.status:
	cd ${SRC_DIR}/$(@:.status=); git status

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%.log:
	@cd ${SRC_DIR}/$(@:.log=); \
	if [ -f .git/refs/heads/${$(@:.log=)_branch} ]; then \
		echo -n "$(@:.log=): "; \
		cat .git/refs/heads/${$(@:.log=)_branch}; \
	fi

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roboptim-core-3.1.checkout:
	if [ -d $(@:.checkout=) ]; then \
		echo "$(@:.checkout=) already checkout out."; \
	else \
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		${WGET} -O - "https://github.com/roboptim/roboptim-core/releases/download/v3.1/roboptim-core-3.1.tar.bz2" | ${TAR} -xj; \
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	fi

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OpenSceneGraph-3.4.0.checkout:
	if [ -d $(@:.checkout=) ]; then \
		echo "$(@:.checkout=) already checkout out."; \
	else \
		wget http://www.openscenegraph.org/downloads/stable_releases/OpenSceneGraph-3.4.0/source/OpenSceneGraph-3.4.0.zip;\
		cd ${SRC_DIR}; unzip OpenSceneGraph-3.4.0.zip;\
		rm -f OpenSceneGraph-3.4.0.zip;\
	fi

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roboptim-trajectory-3.1.checkout:
	if [ -d $(@:.checkout=) ]; then \
		echo "$(@:.checkout=) already checkout out."; \
	else \
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	  ${WGET} -O - "https://github.com/roboptim/roboptim-trajectory/releases/download/v3.1/roboptim-trajectory-3.1.tar.bz2" | ${TAR} -xj; \
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	fi

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robot_model_py.configure: robot_model_py.configure.dep
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	cd ${SRC_DIR}/$(@:.configure=)/xml_reflection;\
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	mkdir -p ${BUILD_FOLDER}; \
	cd ${BUILD_FOLDER}; \
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	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_HPP_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..
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	cd ${SRC_DIR}/$(@:.configure=)/urdf_parser_py;\
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	mkdir -p ${BUILD_FOLDER}; \
	cd ${BUILD_FOLDER}; \
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	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_HPP_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..
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robot_model_py.install: robot_model_py.configure
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	${MAKE} -C ${SRC_DIR}/$(@:.install=)/xml_reflection/${BUILD_FOLDER} install; \
	${MAKE} -C ${SRC_DIR}/$(@:.install=)/urdf_parser_py/${BUILD_FOLDER} install;
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universal_robot.configure_nodep:
	mkdir -p ${SRC_DIR}/$(@:.configure_nodep=)/ur_description/${BUILD_FOLDER}; \
	cd ${SRC_DIR}/$(@:.configure_nodep=)/ur_description/${BUILD_FOLDER}; \
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	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_HPP_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" ${$(@:.configure_nodep=)_extra_flags} ..
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universal_robot.install_nodep:universal_robot.configure_nodep
	cd ${SRC_DIR}/$(@:.install_nodep=)/ur_description/${BUILD_FOLDER};\
	make install

universal_robot.install:universal_robot.configure
	cd ${SRC_DIR}/$(@:.install=)/ur_description/${BUILD_FOLDER};\
	make install
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baxter_common.configure_nodep:
	mkdir -p ${SRC_DIR}/$(@:.configure_nodep=)/baxter_description/${BUILD_FOLDER}; \
	cd ${SRC_DIR}/$(@:.configure_nodep=)/baxter_description/${BUILD_FOLDER}; \
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	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_HPP_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" ${$(@:.configure_nodep=)_extra_flags} ..; \
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	mkdir -p ${SRC_DIR}/$(@:.configure_nodep=)/rethink_ee_description/${BUILD_FOLDER}; \
	cd ${SRC_DIR}/$(@:.configure_nodep=)/rethink_ee_description/${BUILD_FOLDER}; \
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	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_HPP_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="-g -O3 -DNDEBUG" ${$(@:.configure_nodep=)_extra_flags} ..
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baxter_common.install_nodep:baxter_common.configure_nodep
	cd ${SRC_DIR}/$(@:.install_nodep=)/baxter_description/${BUILD_FOLDER};\
	make install; \
	cd ${SRC_DIR}/$(@:.install_nodep=)/rethink_ee_description/${BUILD_FOLDER};\
	make install

baxter_common.install:baxter_common.configure
	cd ${SRC_DIR}/$(@:.install=)/baxter_description/${BUILD_FOLDER};\
	make install; \
	cd ${SRC_DIR}/$(@:.install=)/rethink_ee_description/${BUILD_FOLDER};\
	make install

romeo.configure: romeo.configure.dep
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	. ${INSTALL_HPP_DIR}/setup.sh; \
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	cd ${SRC_DIR}/romeo/romeo_description;\
	mkdir -p ${BUILD_FOLDER}; \
	cd ${SRC_DIR}/romeo/romeo_description/${BUILD_FOLDER}; \
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	cmake -DCMAKE_INSTALL_PREFIX=${INSTALL_HPP_DIR} -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..
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romeo.install: romeo.configure
	${MAKE} -C ${SRC_DIR}/romeo/romeo_description/${BUILD_FOLDER} install