Initialized sot-dynamic

CMakeLists.txt

+#
+#  Copyright
+#
+
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+SET(PROJECT_NAME sot-dynamic)
+project(${PROJECT_NAME})
+
+SET(PROJECT_VERSION 1.0)
+
+SET(CMAKE_VERBOSE_MAKEFILE true)
+
+IF(WIN32)
+  SET(LIBDIR_KW "/LIBPATH:")
+  SET(LIBINCL_KW "")
+  SET(LIB_EXT ".lib")
+ENDIF(WIN32)
+
+IF(UNIX)
+  SET(LIBDIR_KW "-L")
+  SET(LIBINCL_KW "-l")
+  SET(LIB_EXT "")
+ENDIF(UNIX)
+
+#
+# Look for dependencies
+#
+
+# Load Pkgconfig macros
+INCLUDE(FindPkgConfig)
+SET(PACKAGE_REQUIREMENTS "")
+
+#
+#  Dependency to package dynamicsJRLJapan
+#
+SET(DYNAMICSJRLJAPAN_FOUND 0)
+SET(DYNAMICSJRLJAPAN_REQUIRED "dynamicsJRLJapan >= 1.16.1")
+PKG_CHECK_MODULES(DYNAMICSJRLJAPAN REQUIRED ${DYNAMICSJRLJAPAN_REQUIRED})
+EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=docdir dynamicsJRLJapan
+  OUTPUT_VARIABLE DYNAMICSJRLJAPAN_DOCDIR)
+MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
+MESSAGE(STATUS "DYNAMICSJRLJAPAN_DOCDIR=${DYNAMICSJRLJAPAN_DOCDIR}")
+SET(DYNAMICSJRLJAPAN_FOUND 1)
+
+IF(NOT ${DYNAMICSJRLJAPAN_FOUND})
+  MESSAGE(FATAL_ERROR "Check that package dynamicsJRLJapan is installed in a directory pointed out by PKG_CONFIG_PATH.")
+ENDIF(NOT ${DYNAMICSJRLJAPAN_FOUND})
+  
+IF(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS ${DYNAMICSJRLJAPAN_REQUIRED})
+ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${DYNAMICSJRLJAPAN_REQUIRED}")
+ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
+
+
+#
+#  Dependency to package hrp2Dynamics
+#
+SET(HRP2DYNAMICS_FOUND 0)
+SET(HRP2DYNAMICS_REQUIRED "hrp2Dynamics >= 1.3.0")
+PKG_CHECK_MODULES(HRP2DYNAMICS REQUIRED ${HRP2DYNAMICS_REQUIRED})
+EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=docdir hrp2Dynamics
+  OUTPUT_VARIABLE HRP2DYNAMICS_DOCDIR)
+MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
+MESSAGE(STATUS "HRP2DYNAMICS_DOCDIR=${HRP2DYNAMICS_DOCDIR}")
+SET(HRP2DYNAMICS_FOUND 1)
+
+IF(NOT ${HRP2DYNAMICS_FOUND})
+  MESSAGE(FATAL_ERROR "Check that package hrp2Dynamics is installed in a directory pointed out by PKG_CONFIG_PATH.")
+ENDIF(NOT ${HRP2DYNAMICS_FOUND})
+  
+IF(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS ${HRP2DYNAMICS_REQUIRED})
+ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${HRP2DYNAMICS_REQUIRED}")
+ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
+
+
+#
+#  Dependency to package dynamic-graph
+#
+SET(DYNAMIC_GRAPH_FOUND 0)
+SET(DYNAMIC_GRAPH_REQUIRED "dynamic-graph >= 1.0")
+PKG_CHECK_MODULES(DYNAMIC_GRAPH REQUIRED ${DYNAMIC_GRAPH_REQUIRED})
+EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=docdir dynamic-graph
+  OUTPUT_VARIABLE DYNAMIC_GRAPH_DOCDIR)
+MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
+MESSAGE(STATUS "DYNAMIC_GRAPH_DOCDIR=${DYNAMIC_GRAPH_DOCDIR}")
+SET(DYNAMIC_GRAPH_FOUND 1)
+
+IF(NOT ${DYNAMIC_GRAPH_FOUND})
+  MESSAGE(FATAL_ERROR "Check that package dynamic-graph is installed in a directory pointed out by PKG_CONFIG_PATH.")
+ENDIF(NOT ${DYNAMIC_GRAPH_FOUND})
+  
+IF(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS ${DYNAMIC_GRAPH_REQUIRED})
+ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${DYNAMIC_GRAPH_REQUIRED}")
+ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
+
+
+#
+#  Dependency to package sot-core
+#
+SET(SOT_CORE_FOUND 0)
+SET(SOT_CORE_REQUIRED "sot-core >= 1.0")
+PKG_CHECK_MODULES(SOT_CORE REQUIRED ${SOT_CORE_REQUIRED})
+EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=docdir sot-core
+  OUTPUT_VARIABLE SOT_CORE_DOCDIR)
+MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
+MESSAGE(STATUS "SOT_CORE_DOCDIR=${SOT_CORE_DOCDIR}")
+SET(SOT_CORE_FOUND 1)
+
+IF(NOT ${SOT_CORE_FOUND})
+  MESSAGE(FATAL_ERROR "Check that package sot-core is installed in a directory pointed out by PKG_CONFIG_PATH.")
+ENDIF(NOT ${SOT_CORE_FOUND})
+  
+IF(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS ${SOT_CORE_REQUIRED})
+ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${SOT_CORE_REQUIRED}")
+ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
+
+
+#
+#  Dependency to package MatrixAbstractLayer
+#
+SET(MATRIXABSTRACTLAYER_FOUND 0)
+SET(MATRIXABSTRACTLAYER_REQUIRED "MatrixAbstractLayer >= 1.8.0")
+PKG_CHECK_MODULES(MATRIXABSTRACTLAYER REQUIRED ${MATRIXABSTRACTLAYER_REQUIRED})
+EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=docdir MatrixAbstractLayer
+  OUTPUT_VARIABLE MATRIXABSTRACTLAYER_DOCDIR)
+MESSAGE(STATUS "pkg-config: ${PKG_CONFIG_EXECUTABLE}")
+MESSAGE(STATUS "MATRIXABSTRACTLAYER_DOCDIR=${MATRIXABSTRACTLAYER_DOCDIR}")
+SET(MATRIXABSTRACTLAYER_FOUND 1)
+
+IF(NOT ${MATRIXABSTRACTLAYER_FOUND})
+  MESSAGE(FATAL_ERROR "Check that package MatrixAbstractLayer is installed in a directory pointed out by PKG_CONFIG_PATH.")
+ENDIF(NOT ${MATRIXABSTRACTLAYER_FOUND})
+  
+IF(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS ${MATRIXABSTRACTLAYER_REQUIRED})
+ELSE(PACKAGE_REQUIREMENTS STREQUAL "")
+  SET(PACKAGE_REQUIREMENTS "${PACKAGE_REQUIREMENTS}, ${MATRIXABSTRACTLAYER_REQUIRED}")
+ENDIF(PACKAGE_REQUIREMENTS STREQUAL "")
+
+#
+# pkg-config file
+#
+
+SET(install_pkg_prefix "\${prefix}")
+SET(install_pkg_exec_prefix "\${exec_prefix}")
+SET(install_pkg_libdir "\${libdir}")
+SET(install_pkg_datarootdir "\${datarootdir}")
+SET(install_pkg_include_dir "\${includedir}")
+
+IF(UNIX)
+  SET (${PROJECT_NAME}_LDFLAGS "-Wl,-R${install_pkg_libdir} ${LIBINCL_KW}${PROJECT_NAME}${LIB_EXT} ${${PROJECT_NAME}_LDFLAGS}")
+ENDIF(UNIX)
+
+IF(WIN32)
+  SET (${PROJECT_NAME}_LDFLAGS "${LIBINCL_KW}${PROJECT_NAME}${LIB_EXT} ${${PROJECT_NAME}_LDFLAGS}")
+ENDIF(WIN32)
+
+# Install the file in the appropriate place.
+SET(install_libdir_pkgconfig ${CMAKE_INSTALL_PREFIX}/lib/pkgconfig)
+
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.pc.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc)
+
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.pc
+  DESTINATION ${install_libdir_pkgconfig}	
+  PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+
+ADD_SUBDIRECTORY(src)
+ADD_SUBDIRECTORY(include)
+ADD_SUBDIRECTORY(unitTesting)
+
+#
+# Documentation produced by doxygen
+#
+INCLUDE(FindDoxygen)
+IF(DOXYGEN_FOUND)
+  add_subdirectory(doc)
+ENDIF(DOXYGEN_FOUND)