56 lines
2.3 KiB
CMake
56 lines
2.3 KiB
CMake
# Locate KDL install directory
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# This module defines
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# KDL_INSTALL where to find include, lib, bin, etc.
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# KDL_FOUND, is set to true
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#INCLUDE (${PROJECT_SOURCE_DIR}/config/FindPkgConfig.cmake)
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IF ( CMAKE_PKGCONFIG_EXECUTABLE )
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MESSAGE( STATUS "Detecting KDL" )
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SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/")
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MESSAGE( "Looking for KDL in: ${KDL_INSTALL}")
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PKGCONFIG( "orocos-kdl >= 1.4.0" KDL_FOUND KDL_INCLUDE_DIRS KDL_DEFINES KDL_LINK_DIRS KDL_LIBS )
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IF( KDL_FOUND )
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MESSAGE(" Includes in: ${KDL_INCLUDE_DIRS}")
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MESSAGE(" Libraries in: ${KDL_LINK_DIRS}")
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MESSAGE(" Libraries: ${KDL_LIBS}")
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MESSAGE(" Defines: ${KDL_DEFINES}")
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INCLUDE_DIRECTORIES( ${KDL_INCLUDE_DIRS} )
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LINK_DIRECTORIES( ${KDL_LINK_DIRS})
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SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/:${OROCOS_INSTALL}/lib/pkgconfig")
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MESSAGE( "Looking for KDL Toolkit in: ${PKG_CONFIG_PATH}")
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PKGCONFIG( "orocos-kdltk-${OROCOS_TARGET} >= 1.4.0" KDLTK_FOUND KDLTK_INCLUDE_DIRS KDLTK_DEFINES KDLTK_LINK_DIRS KDLTK_LIBS )
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IF(KDLTK_FOUND)
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INCLUDE_DIRECTORIES( ${KDLTK_INCLUDE_DIRS} )
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LINK_DIRECTORIES( ${KDLTK_LINK_DIRS})
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OROCOS_PKGCONFIG_INCPATH("${KDLTK_INCLUDE_DIRS}")
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OROCOS_PKGCONFIG_LIBPATH("${KDLTK_LINK_DIRS}")
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OROCOS_PKGCONFIG_LIBS("${KDLTK_LIBS}")
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IF(CORBA_ENABLED)
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SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/:${OROCOS_INSTALL}/lib/pkgconfig")
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MESSAGE("Looking for KDL Toolkit CORBA extension in ${PKG_CONFIG_PATH}")
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PKGCONFIG( "orocos-kdltk-corba-${OROCOS_TARGET} >= 1.4.0" KDLTKCORBA_FOUND KDLTKCORBA_INCLUDE_DIRS KDLTKCORBA_DEFINES KDLTKCORBA_LINK_DIRS KDLTKCORBA_LIBS )
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IF(KDLTKCORBA_FOUND)
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INCLUDE_DIRECTORIES( ${KDLTKCORBA_INCLUDE_DIRS} )
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LINK_DIRECTORIES( ${KDLTKCORBA_LINK_DIRS})
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OROCOS_PKGCONFIG_INCPATH("${KDLTKCORBA_INCLUDE_DIRS}")
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OROCOS_PKGCONFIG_LIBPATH("${KDLTKCORBA_LINK_DIRS}")
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OROCOS_PKGCONFIG_LIBS("${KDLTKCORBA_LIBS}")
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ENDIF ( KDLTKCORBA_FOUND )
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ENDIF(CORBA_ENABLED)
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ENDIF ( KDLTK_FOUND )
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ENDIF ( KDL_FOUND )
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ELSE ( CMAKE_PKGCONFIG_EXECUTABLE )
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# Can't find pkg-config -- have to search manually
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MESSAGE( FATAL_ERROR "Can't find KDL without pkgconfig !")
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ENDIF ( CMAKE_PKGCONFIG_EXECUTABLE )
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