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

FCL_REPO=https://github.com/flexible-collision-library
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JRL_REPO=https://github.com/jrl-umi3218
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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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SRC_DIR=${DEVEL_DIR}/src
BUILD_TYPE=Debug
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ifeq (${BUILD_TYPE},Debug)
  BUILD_FOLDER=build
else
  BUILD_FOLDER=build-rel
endif
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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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hpp-model_branch=devel
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hpp-model_repository=${HPP_REPO}

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pinocchio_branch=hpp-devel
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pinocchio_repository=${SOT_REPO}
pinocchio_extra_flags= -DBUILD_PYTHON_INTERFACE=OFF

hpp-pinocchio_branch=master
hpp-pinocchio_repository=${HPP_REPO}

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hpp-model-urdf_branch=devel
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hpp-model-urdf_repository=${HPP_REPO}

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hpp-statistics_branch=devel
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hpp-statistics_repository=${HPP_REPO}
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hpp-core_branch=topic/pinocchio
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hpp-core_repository=${HPP_REPO}
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hpp-template-corba_branch=devel
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hpp-template-corba_repository=${LAAS_REPO}

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hpp-corbaserver_branch=topic/pinocchio
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hpp-corbaserver_repository=${HPP_REPO}
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qpOASES_branch=master
qpOASES_repository=${HPP_REPO}

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hpp-constraints_branch=topic/pinocchio
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hpp-constraints_repository=${HPP_REPO}
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hpp-walkgen_branch=devel
hpp-walkgen_repository=${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=${HPP_REPO}
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hrp2_branch=groovy
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hrp2_repository=${JRL_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=topic/pinocchio
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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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robot_state_chain_publisher_branch=master
robot_state_chain_publisher_repository=${HPP_REPO}

iai_maps_branch=master
iai_maps_repository=${HPP_REPO}

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hpp_tutorial_branch=topic/pinocchio
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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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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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hpp-gepetto-viewer_branch=topic/pinocchio
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hpp-gepetto-viewer_repository=${HPP_REPO}
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pythonqt_branch=patched-5
pythonqt_repository=${HPP_REPO}
pythonqt_extra_flags= -DPythonQt_Wrap_QtAll=ON -DPythonQt_Extensions=ON

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hpp-gui_branch=topic/pinocchio
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hpp-gui_repository=${HPP_REPO}

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hpp-plot_branch=devel
hpp-plot_repository=${HPP_REPO}

qgv_branch=devel
qgv_repository=${HPP_REPO}

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OpenSceneGraph-3.4.0_extra_flags= -DDESIRED_QT_VERSION=4 -DCOLLADA_DYNAMIC_LIBRARY=${DEVEL_DIR}/install/lib/libcollada14dom.so -DCOLLADA_INCLUDE_DIR=${DEVEL_DIR}/install/include/collada-dom -DLIB_POSTFIX=""
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doxygen-Release_1_8_10_extra_flags= -DCMAKE_BUILD_TYPE=Release

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roboptim-core-3.1_extra_flags= -DCMAKE_BUILD_TYPE=Release

roboptim-trajectory-3.1_extra_flags= -DCMAKE_BUILD_TYPE=Release

qpOASES_extra_flags= -DCMAKE_BUILD_TYPE=Release

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all: doxygen-Release_1_8_10.install hpp_tutorial.install \
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	hpp-gepetto-viewer.install
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	${MAKE} hpp-doc.install
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# source $DEVEL_DIR/install/setup.bash before installing hrp2.
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hrp2: test-hpp.install

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hpp-fcl.configure.dep: eigen3.install hpp-fcl.checkout
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eigen3.configure.dep: eigen3.checkout
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doxygen-Release_1_8_10.configure.dep: doxygen-Release_1_8_10.checkout
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roboptim-core-3.1.configure.dep: eigen3.install roboptim-core-3.1.checkout
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
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hpp-model.configure.dep: hpp-util.install hpp-fcl.install \
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	eigen3.install hpp-model.checkout
hpp-model-urdf.configure.dep: hpp-model.install hpp-model-urdf.checkout
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pinocchio.configure.dep: eigen3.install hpp-fcl.install pinocchio.checkout
hpp-pinocchio.configure.dep: hpp-model-urdf.install pinocchio.install \
	hpp-pinocchio.checkout
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hpp-statistics.configure.dep: hpp-statistics.checkout
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 hpp-model.install \
	hpp-pinocchio.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
hpp-manipulation.configure.dep: hpp-core.install hpp-constraints.install \
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	hpp-wholebody-step.install hpp-manipulation.checkout
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hpp-manipulation-urdf.configure.dep:hpp-manipulation.install \
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	hpp-model-urdf.install hpp-manipulation-urdf.checkout
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hpp-corbaserver.configure.dep: hpp-model-urdf.install hpp-core.install \
	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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hpp-manipulation-corba.configure.dep: hpp-manipulation-urdf.install \
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	hpp-wholebody-step-corba.install hpp-manipulation.install \
	hpp-manipulation-corba.checkout
robot_model_py.configure.dep: robot_model_py.checkout
robot_capsule_urdf.configure.dep: robot_model_py.install \
	robot_capsule_urdf.checkout
hpp-hrp2.configure.dep: hrp2.install hpp-corbaserver.install hpp-hrp2.checkout
hrp2.configure.dep: robot_capsule_urdf.install robot_model_py.install \
	hrp2.checkout
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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robot_state_chain_publisher.configure.dep: robot_state_chain_publisher.checkout
iai_maps.configure.dep: robot_state_chain_publisher.install iai_maps.checkout
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hpp_tutorial.configure.dep: hpp-gepetto-viewer.install iai_maps.install \
	hpp-corbaserver.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-3.4.0.configure.dep: collada-dom.install \
	OpenSceneGraph-3.4.0.checkout
gepetto-viewer.configure.dep: OpenSceneGraph-3.4.0.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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hpp-gui.configure.dep: gepetto-viewer-corba.install \
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	hpp-corbaserver.install hpp-gui.checkout
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pythonqt.configure.dep: pythonqt.checkout
hpp-plot.configure.dep: hpp-corbaserver.install hpp-manipulation-corba.install \
	hpp-wholebody-step-corba.install qgv.install \
	hpp-plot.checkout
qgv.configure.dep: qgv.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 d in hpp-util hpp-model hpp-model-urdf hpp-core hpp-template-corba hpp-corbaserver hpp-constraints hpp-wholebody-step hpp-wholebody-step-corba hpp-doc ; do \
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	echo "Updating $$d";\
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	${MAKE} $$d.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 \
		git clone --recursive -b ${$(@:.checkout=)_branch} ${$(@:.checkout=)_repository}/$(@:.checkout=); \
	fi \

%.update:
	cd ${SRC_DIR}/$(@:.update=);\
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	git remote rm origin;\
	git remote add origin ${$(@:.update=)_repository}/$(@:.update=);\
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	git fetch origin;\
	git checkout -b bce46g origin/${$(@:.update=)_branch};\
	git branch -D ${$(@:.update=)_branch};\
	git checkout -b ${$(@:.update=)_branch} bce46g;\
	git branch -D bce46g;\
	git submodule update

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%.configure:%.configure.dep %.confthis
	: # Do nothing else

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

%.instthis:%.confthis
	${MAKE} -C ${SRC_DIR}/$(@:.instthis=)/${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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hpp-doc.configure: hpp-doc.checkout
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	cd ${SRC_DIR}/$(@:.configure=);\
	./bootstrap;\
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	mkdir -p ${BUILD_FOLDER}; \
	cd ${SRC_DIR}/$(@:.configure=)/${BUILD_FOLDER}; \
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	../configure --prefix=${DEVEL_DIR}/install

eigen3.checkout:
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	if [ -d $(@:.checkout=) ]; then \
		echo "$(@:.checkout=) already checkout out."; \
	else \
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		wget -O - "http://bitbucket.org/eigen/eigen/get/3.2.4.tar.bz2" | tar -xj; \
		mv eigen-eigen-10219c95fe65 eigen3;\
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	fi
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eigen3.configure: eigen3.configure.dep
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	cd ${SRC_DIR}/eigen3;\
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	mkdir -p ${BUILD_FOLDER}; \
	cd ${SRC_DIR}/eigen3/${BUILD_FOLDER}; \
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	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -Dpkg_config_libdir=${DEVEL_DIR}/install/lib ..

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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

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

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doxygen-Release_1_8_10.checkout:
	if [ -d $(@:.checkout=) ]; then \
		echo "$(@:.checkout=) already checkout out."; \
	else \
		wget -O - "https://github.com/doxygen/doxygen/archive/Release_1_8_10.tar.gz" | tar -xz;\
	fi

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hrp2.configure: hrp2.configure.dep
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	. ${DEVEL_DIR}/install/setup.sh; \
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	cd ${SRC_DIR}/hrp2/hrp2_14_description;\
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	mkdir -p ${BUILD_FOLDER}; \
	cd ${SRC_DIR}/hrp2/hrp2_14_description/${BUILD_FOLDER}; \
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	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..

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hrp2.install: hrp2.configure
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	${MAKE} -C ${SRC_DIR}/hrp2/hrp2_14_description/${BUILD_FOLDER} install
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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 ${BUILD_FOLDER}; \
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	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_DIR}/install -DCMAKE_INSTALL_LIBDIR=lib -DCMAKE_BUILD_TYPE=${BUILD_TYPE} ..
	cd ${SRC_DIR}/$(@:.configure=)/urdf_parser_py;\
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	mkdir -p ${BUILD_FOLDER}; \
	cd ${BUILD_FOLDER}; \
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	cmake -DCMAKE_INSTALL_PREFIX=${DEVEL_DIR}/install -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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OpenSceneGraph-3.4.0.checkout:
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	if [ -d $(@:.checkout=) ]; then \
		echo "$(@:.checkout=) already checkout out."; \
	else \
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		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;\
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	fi