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CMakeLists.txt~
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cmake_minimum_required(VERSION 2.6)
#set(IDL_DIR ${CMAKE_CURRENT_BINARY_DIR}/)
set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
if (NOT CMAKE_MODULE_PATH)
#old HDD
#set(CMAKE_MODULE_PATH /opt/grx/share/hrpsys/cmake_modules/ CACHE STRING "set path to cmake_modules")
set(CMAKE_MODULE_PATH ~/src/hrpsys/trunk/cmake_modules/ CACHE STRING "set path to cmake_modules")
#set(CMAKE_MODULE_PATH ~/src/hrpsys_base/trunk/cmake_modules/ CACHE STRING "set path to cmake_modules")
#set(CMAKE_MODULE_PATH ../..//cmake_modules/ CACHE STRING "set path to cmake_modules")
endif (NOT CMAKE_MODULE_PATH)
#message (STATUS "/_/_/_/_/_/_/_/_/_/_/_/=${IDL_DIR}")
####
## settings for OpenRTM and OpenHRP
##
include(FindPkgConfig)
include(CheckIncludeFiles)
find_package(OpenRTM REQUIRED)
find_package(OpenHRP REQUIRED)
#find_package(OpenSceneGraph REQUIRED)
#find_package(Choreonoid REQUIRED)
include_directories(${OPENRTM_INCLUDE_DIRS})
link_directories(${OPENRTM_LIBRARY_DIRS})
include_directories(${OPENHRP_INCLUDE_DIRS})
link_directories(${OPENHRP_LIBRARY_DIRS})
include_directories(${CHOREONOID_INCLUDE_DIRS})
link_directories(${CHOREONOID_LIBRARY_DIRS})
#include_directories(/opt/grx/include)
include_directories(/usr/local/include)
include_directories(${CMAKE_MODULE_PATH})
#include_directories(${CMAKE_CURRENT_SOURCE_DIR}/preview_control)
##################
#########
##################
if(NOT CHOREONOID_DIR)
if(UNIX)
pkg_check_modules(CHOREONOID REQUIRED choreonoid-body-plugin)
if(CHOREONOID_FOUND)
set(CHOREONOID_DIR ${CHOREONOID_INCLUDE_DIRS})
endif()
endif()
else()
set(CHOREONOID_INCLUDE_DIRS ${CHOREONOID_DIR})
endif()
message("korekore " ${CHOREONOID_DIR})
set(CHOREONOID_DIR ${CHOREONOID_DIR} CACHE PATH "The directory of the choreonoid library")
if(NOT CHOREONOID_INCLUDE_DIRS)
message(FATAL_ERROR "Please specify the choreonoid directory to CHOREONOID_DIR.")
else()
include_directories(${CHOREONOID_INCLUDE_DIRS})
link_directories(${CHOREONOID_LIBRARY_DIRS})
endif()
######################
##################
# eigen
#if(NOT EIGEN_DIR)
# if(UNIX)
# pkg_check_modules(EIGEN eigen3)
# if(EIGEN_FOUND)
# set(EIGEN_DIR ${EIGEN_INCLUDE_DIRS})
# endif()
# endif()
#else()
# set(EIGEN_INCLUDE_DIRS ${EIGEN_DIR})
#endif()
#set(EIGEN_DIR ${EIGEN_DIR} CACHE PATH "The directory of the Eigen library")
#if(NOT EIGEN_INCLUDE_DIRS)
# message(FATAL_ERROR "Please specify the Eigen directory to EIGEN_DIR.")
#else()
# include_directories(${EIGEN_INCLUDE_DIRS})
#endif()
######################
#if(QNXNTO)
# include_directories(/usr/pkg/include)
# set(NO_COMP true)
# set(CPACK_GENERATOR "DEB")
# set(CPACK_DEB_COMPONENT_INSTALL ON)
# if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
# set(CPACK_SYSTEM_NAME "amd64")
# else(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
# set(CPACK_SYSTEM_NAME "i386")
# endif(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
# set(CPACK_PACKAGE_NAME "sonyComponent")
# set(CPACK_DEBIAN_PACKAGE_MAINTAINTER "GRX Support")
# set(CPACK_PACKAGE_CONTACT "[email protected]")
# set(CPACK_PACKAGE_VENDOR "General Robotix, Inc.")
# #set(CPACK_PACKAGE_INSTALL_DIRECTORY ${CMAKE_INSTALL_PREFIX})
# #set(CPACK_INSTALL_DIRECTORIES ${CMAKE_INSTALL_PREFIX})
# #set(CPACK_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
# set(CPACK_DEBIAN_BUILD_DEPENDS g++)
# include(CPack)
# include(UploadPPA)
#endif(QNXNTO)
include(GenerateStubSkel)
####
## for each component
##
set(comp_name JojoPDservo)
set(comp_sources ${comp_name}.cpp)
#generate_stub_skel(${comp_name}Service)
#set(comp_sources ${comp_sources} ${comp_name}Service_impl.cpp ${comp_name}ServiceSk.cpp)
#generate_hrpsys_stub_skel_wrapper(SequencePlayerService)
#set(comp_sources ${comp_sources} SequencePlayerServiceStub.cpp)
#set(comp_sources ${comp_sources} hrp2Base.cpp)
#set(comp_sources ${comp_sources} myfunc.cpp)# to be revise tvmet
#set(comp_sources ${comp_sources} ZmpPlaner.cpp)
#set(comp_sources ${comp_sources} ${CMAKE_CURRENT_SOURCE_DIR}/preview_control/PreviewControl.cpp)
#set(comp_sources ${comp_sources} NMSclassQ.cpp)
add_library(${comp_name} SHARED ${comp_sources})
target_link_libraries(${comp_name} ${CHOREONOID_LIBRARIES} CnoidBody CnoidBodyPlugin CnoidUtil CnoidBase )
target_link_libraries(${comp_name} ${OPENRTM_LIBRARIES} hrpModel-3.1 hrpUtil-3.1)
target_link_libraries(${comp_name} lapack blas f2c m)
set_target_properties(${comp_name} PROPERTIES PREFIX "")
if (NO_COMP)
set(target ${comp_name})
else()
set(target ${comp_name} ${comp_name}Comp)
add_executable(${comp_name}Comp ${comp_name}Comp.cpp ${comp_sources})
target_link_libraries(${comp_name}Comp ${OPENRTM_LIBRARIES} hrpModel-3.1 hrpUtil-3.1)
target_link_libraries(${comp_name}Comp ${CHOREONOID_LIBRARIES} CnoidBody CnoidBodyPlugin CnoidUtil CnoidBase )
target_link_libraries(${comp_name}Comp boost_filesystem)
target_link_libraries(${comp_name}Comp m)
endif()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ggdb3 -fno-schedule-insns -fno-schedule-insns2 -fno-strict-aliasing")
#install(TARGETS ${comp_name}
# RUNTIME DESTINATION bin CONFIGURATIONS Release Debug
# LIBRARY DESTINATION lib CONFIGURATIONS Release Debug
# )
INSTALL(FILES ${comp_name}.so DESTINATION "/home/wu/chorenoid/lib/choreonoid-1.4/rtc")