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Commit 7632ad87 authored by Frederik Koch's avatar Frederik Koch
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Now correctly Imports RBDL

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CMakeLists.txt
+ 9
− 0
View file @ 7632ad87
# RobotAPI
cmake_minimum_required(VERSION 3.10.2)
if(POLICY CMP0043)
cmake_policy(SET CMP0043 OLD)
endif()
find_package("ArmarXCore" REQUIRED
PATHS "$ENV{HOME}/armarx/Core/build"
)
......@@ -21,6 +23,13 @@ find_package(DMP QUIET)
find_package(OpenCV QUIET)
find_package(IVT COMPONENTS ivt ivtopencv QUIET)
find_package(manif QUIET)
#/common/homes/students/ulxvc_koch/Workspaces/deps/rbdl/share/FindRBDL.cmake
# SET(RBDL_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../deps/rbdl/include/rbdl")
# SET(RBDL_LIBRARY "rbdl")
# list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/etc/cmake")
find_package(RBDL REQUIRED)
link_libraries(${RBDL_LIBRARY})
add_subdirectory(source)
......
etc/cmake/FindRBDL.cmake 0 → 100644
+ 294
− 0
View file @ 7632ad87
SET (RBDL_FOUND FALSE)
SET (RBDL_LUAMODEL_FOUND FALSE)
SET (RBDL_URDFREADER_FOUND FALSE)
SET (RBDL_GEOMETRY_FOUND FALSE)
SET (RBDL_MUSCLE_FOUND FALSE)
UNSET( RBDL_INCLUDE_DIR CACHE)
UNSET( RBDL_LIBRARY CACHE)
UNSET( RBDL_LUAMODEL_INCLUDE_DIR CACHE)
UNSET( RBDL_LUAMODEL_LIBRARY CACHE)
UNSET( RBDL_URDFREADER_INCLUDE_DIR CACHE)
UNSET( RBDL_URDFREADER_LIBRARY CACHE)
UNSET( RBDL_MUSCLE_INCLUDE_DIR CACHE)
UNSET( RBDL_MUSCLE_LIBRARY CACHE)
UNSET( RBDL_GEOMETRY_INCLUDE_DIR CACHE)
UNSET( RBDL_GEOMETRY_LIBRARY CACHE)
#SET(CUSTOM_RBDL_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../../../deps/rbdl FORCE)
SET(CUSTOM_RBDL_PATH FALSE)
# FIND_PATH(RBDL_INCLUDE_DIR NAMES rbdl.h
# PATHS
# ${RBDL_INCLUDE_DIR}/../../../../deps/rbdl/include/rbdl
# /common/homes/students/ulxvc_koch/Workspaces/deps/rbdl/include/rbdl
# $ENV{RBDL_INCLUDE_DIR}/include/
# $ENV{RBDL_INCLUDE_DIR}/include/rbdl/
# ${RBDL_INCLUDE_DIR}/include/
# ${RBDL_INCLUDE_DIR}/include/rbdl/
# ENV CPATH
# /usr/include/rbdl/
# /usr/local/include/rbdl/
# /opt/local/include/rbdl/
# NO_DEFAULT_PATH
# )
# FIND_LIBRARY(RBDL_LIBRARY NAMES librbdl.so
# PATHS
# $ENV{RBDL_INCLUDE_DIR}/lib
# ${RBDL_INCLUDE_DIR}/lib
# ENV LD_LIBRARY_PATH
# ENV LIBRARY_PATH
# /usr/lib
# /usr/local/lib
# /opt/local/lib
# NO_DEFAULT_PATH
# )
IF(CUSTOM_RBDL_PATH)
FIND_PATH (RBDL_INCLUDE_DIR rbdl/rbdl.h
PATHS
${CUSTOM_RBDL_PATH}/include
NO_DEFAULT_PATH
)
FIND_LIBRARY (RBDL_LIBRARY rbdl
PATHS
${CUSTOM_RBDL_PATH}/lib
NO_DEFAULT_PATH
)
FIND_PATH (RBDL_LUAMODEL_INCLUDE_DIR rbdl/addons/luamodel/luamodel.h
PATHS
${CUSTOM_RBDL_PATH}/include
NO_DEFAULT_PATH
)
FIND_LIBRARY (RBDL_LUAMODEL_LIBRARY rbdl_luamodel
PATHS
${CUSTOM_RBDL_PATH}/lib
NO_DEFAULT_PATH
)
FIND_PATH (RBDL_URDFREADER_INCLUDE_DIR rbdl/addons/urdfreader/urdfreader.h
PATHS
${CUSTOM_RBDL_PATH}/include
NO_DEFAULT_PATH
)
FIND_LIBRARY (RBDL_URDFREADER_LIBRARY rbdl_urdfreader
PATHS
${CUSTOM_RBDL_PATH}/lib
NO_DEFAULT_PATH
)
FIND_PATH (RBDL_MUSCLE_INCLUDE_DIR rbdl/addons/muscle/muscle.h
PATHS
${CUSTOM_RBDL_PATH}/include
NO_DEFAULT_PATH
)
FIND_LIBRARY (RBDL_MUSCLE_LIBRARY rbdl_muscle
PATHS
${CUSTOM_RBDL_PATH}/lib
NO_DEFAULT_PATH
)
FIND_PATH (RBDL_GEOMETRY_INCLUDE_DIR rbdl/addons/geometry/geometry.h
PATHS
${CUSTOM_RBDL_PATH}/include
NO_DEFAULT_PATH
)
FIND_LIBRARY (RBDL_GEOMETRY_LIBRARY rbdl_geometry
PATHS
${CUSTOM_RBDL_PATH}/lib
NO_DEFAULT_PATH
)
ELSE(CUSTOM_RBDL_PATH)
FIND_PATH (RBDL_INCLUDE_DIR rbdl/rbdl.h
HINTS
${CMAKE_CURRENT_SOURCE_DIR}/../../../../deps/rbdl/include
${CMAKE_CURRENT_SOURCE_DIR}/../../deps/rbdl/include
/common/homes/students/ulxvc_koch/Workspaces/deps/rbdl/include
$ENV{HOME}/local/include
$ENV{RBDL_PATH}/src
$ENV{RBDL_PATH}/include
$ENV{RBDL_INCLUDE_PATH}
/usr/local/include
/usr/include
)
FIND_LIBRARY (RBDL_LIBRARY NAMES librbdl.so librbdl librbdl.so.3.2.0 rbdl
PATHS
$ENV{HOME}/local/lib
$ENV{HOME}/local/lib/x86_64-linux-gnu
$ENV{RBDL_PATH}/lib
${CMAKE_CURRENT_SOURCE_DIR}/../../../../deps/rbdl/build/install/lib
${CMAKE_CURRENT_SOURCE_DIR}/../../deps/rbdl/build/install/lib
/common/homes/students/ulxvc_koch/Workspaces/deps/rbdl/build/install/lib
$ENV{RBDL_LIBRARY_PATH}
/usr/local/lib
/usr/local/lib/x86_64-linux-gnu
/usr/lib
/usr/lib/x86_64-linux-gnu
)
FIND_PATH (RBDL_LUAMODEL_INCLUDE_DIR rbdl/addons/luamodel/luamodel.h
HINTS
$ENV{HOME}/local/include
$ENV{RBDL_PATH}/src
$ENV{RBDL_PATH}/include
$ENV{RBDL_INCLUDE_PATH}
/usr/local/include
/usr/include
)
FIND_LIBRARY (RBDL_LUAMODEL_LIBRARY rbdl_luamodel
PATHS
$ENV{HOME}/local/lib
$ENV{HOME}/local/lib/x86_64-linux-gnu
$ENV{RBDL_PATH}
$ENV{RBDL_LIBRARY_PATH}
/usr/local/lib
/usr/local/lib/x86_64-linux-gnu
/usr/lib
/usr/lib/x86_64-linux-gnu
)
FIND_PATH (RBDL_URDFREADER_INCLUDE_DIR rbdl/addons/urdfreader/urdfreader.h
HINTS
$ENV{HOME}/local/include
$ENV{RBDL_PATH}/src
$ENV{RBDL_PATH}/include
$ENV{RBDL_INCLUDE_PATH}
/usr/local/include
/usr/include
)
FIND_LIBRARY (RBDL_URDFREADER_LIBRARY rbdl_urdfreader
PATHS
$ENV{HOME}/local/lib
$ENV{HOME}/local/lib/x86_64-linux-gnu
$ENV{RBDL_PATH}
$ENV{RBDL_LIBRARY_PATH}
/usr/local/lib
/usr/local/lib/x86_64-linux-gnu
/usr/lib
/usr/lib/x86_64-linux-gnu
)
FIND_PATH (RBDL_MUSCLE_INCLUDE_DIR rbdl/addons/muscle/muscle.h
HINTS
$ENV{HOME}/local/include
$ENV{RBDL_PATH}/src
$ENV{RBDL_PATH}/include
$ENV{RBDL_INCLUDE_PATH}
/usr/local/include
/usr/include
)
FIND_LIBRARY (RBDL_MUSCLE_LIBRARY rbdl_muscle
PATHS
$ENV{HOME}/local/lib
$ENV{HOME}/local/lib/x86_64-linux-gnu
$ENV{RBDL_PATH}
$ENV{RBDL_LIBRARY_PATH}
/usr/local/lib
/usr/local/lib/x86_64-linux-gnu
/usr/lib
/usr/lib/x86_64-linux-gnu
)
FIND_PATH (RBDL_GEOMETRY_INCLUDE_DIR rbdl/addons/geometry/geometry.h
HINTS
$ENV{HOME}/local/include
$ENV{RBDL_PATH}/src
$ENV{RBDL_PATH}/include
$ENV{RBDL_INCLUDE_PATH}
/usr/local/include
/usr/include
)
FIND_LIBRARY (RBDL_GEOMETRY_LIBRARY rbdl_geometry
PATHS
$ENV{HOME}/local/lib
$ENV{HOME}/local/lib/x86_64-linux-gnu
$ENV{RBDL_PATH}
$ENV{RBDL_LIBRARY_PATH}
/usr/local/lib
/usr/local/lib/x86_64-linux-gnu
/usr/lib
/usr/lib/x86_64-linux-gnu
)
ENDIF(CUSTOM_RBDL_PATH)
IF (RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
SET (RBDL_FOUND TRUE)
ELSE(RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
IF(RBDL_FIND_REQUIRED)
MESSAGE (SEND_ERROR " Could not find RBDL.")
MESSAGE (SEND_ERROR " Try setting CUSTOM_RBDL_PATH in FindRBDL.cmake force CMake to use the desired directory.")
ELSE(RBDL_FIND_REQUIRED)
MESSAGE (STATUS " Could not find RBDL.")
MESSAGE (STATUS " Try setting CUSTOM_RBDL_PATH in FindRBDL.cmake force CMake to use the desired directory.")
ENDIF(RBDL_FIND_REQUIRED)
ENDIF (RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
IF (RBDL_LUAMODEL_LIBRARY AND RBDL_LUAMODEL_INCLUDE_DIR)
SET (RBDL_LUAMODEL_FOUND TRUE)
ENDIF (RBDL_LUAMODEL_LIBRARY AND RBDL_LUAMODEL_INCLUDE_DIR)
IF (RBDL_URDFREADER_LIBRARY AND RBDL_URDFREADER_INCLUDE_DIR)
SET (RBDL_URDFREADER_FOUND TRUE)
ENDIF (RBDL_URDFREADER_LIBRARY AND RBDL_URDFREADER_INCLUDE_DIR)
IF (RBDL_MUSCLE_LIBRARY AND RBDL_MUSCLE_INCLUDE_DIR)
SET (RBDL_MUSCLE_FOUND TRUE)
ENDIF (RBDL_MUSCLE_LIBRARY AND RBDL_MUSCLE_INCLUDE_DIR)
IF (RBDL_GEOMETRY_LIBRARY AND RBDL_GEOMETRY_INCLUDE_DIR)
SET (RBDL_GEOMETRY_FOUND TRUE)
ENDIF (RBDL_GEOMETRY_LIBRARY AND RBDL_GEOMETRY_INCLUDE_DIR)
IF (RBDL_FOUND)
IF (NOT RBDL_FIND_QUIETLY)
MESSAGE(STATUS "Found RBDL: ${RBDL_LIBRARY}")
ENDIF (NOT RBDL_FIND_QUIETLY)
foreach ( COMPONENT ${RBDL_FIND_COMPONENTS} )
IF (RBDL_${COMPONENT}_FOUND)
IF (NOT RBDL_FIND_QUIETLY)
MESSAGE(STATUS "Found RBDL ${COMPONENT}: ${RBDL_${COMPONENT}_LIBRARY}")
ENDIF (NOT RBDL_FIND_QUIETLY)
ELSE (RBDL_${COMPONENT}_FOUND)
MESSAGE(ERROR " Could not find RBDL ${COMPONENT}")
ENDIF (RBDL_${COMPONENT}_FOUND)
endforeach ( COMPONENT )
ENDIF (RBDL_FOUND)
MARK_AS_ADVANCED (
RBDL_INCLUDE_DIR
RBDL_LIBRARY
RBDL_LUAMODEL_INCLUDE_DIR
RBDL_LUAMODEL_LIBRARY
RBDL_URDFREADER_INCLUDE_DIR
RBDL_URDFREADER_LIBRARY
RBDL_MUSCLE_INCLUDE_DIR
RBDL_MUSCLE_LIBRARY
RBDL_GEOMETRY_INCLUDE_DIR
RBDL_GEOMETRY_LIBRARY
)
source/RobotAPI/libraries/armem_mps/CMakeLists.txt
+ 21
− 2
View file @ 7632ad87
set(LIB_NAME armem_mps)
set(LIB_NAME armem_mps)
armarx_component_set_name("${LIB_NAME}")
armarx_set_target("Library: ${LIB_NAME}")
find_package(DMP QUIET) # needs to be changed to new MP package
# find_package(RBDL REQUIRED) # needs to be changed to new MP package
# FIND_LIBRARY (RBDL_LIBRARY NAMES librbdl librbdl.so librbdl.so.3.2.0 rbdl
# PATHS
# $ENV{HOME}/local/lib<
# $ENV{HOME}/local/lib/x86_64-linux-gnu
# $ENV{RBDL_PATH}/lib
# ${CMAKE_CURRENT_SOURCE_DIR}/../../../../deps/rbdl/build
# ${CMAKE_CURRENT_SOURCE_DIR}/../../deps/rbdl/build
# /common/homes/students/ulxvc_koch/Workspaces/deps/rbdl/build
# $ENV{RBDL_LIBRARY_PATH}
# /usr/local/lib
# /usr/local/lib/x86_64-linux-gnu
# /usr/lib
# /usr/lib/x86_64-linux-gnu
# )
armarx_build_if(DMP_FOUND "DMP not available")
......@@ -16,9 +33,11 @@ armarx_add_library(
RobotAPI::armem
RobotAPI::PriorKnowledge::Motions
RobotAPI::armem_motions
VirtualRobot
${DMP_LIBRARIES}
# ${RBDL_LIBRARY}
SOURCES
aron_conversions.cpp
......@@ -31,5 +50,5 @@ armarx_add_library(
add_library(RobotAPI::armem_mps ALIAS armem_mps)
target_link_libraries(armem_mps LINK_PUBLIC rbdl)
add_subdirectory(server)
source/RobotAPI/libraries/armem_mps/server/CMakeLists.txt
+ 16
− 0
View file @ 7632ad87
......@@ -8,6 +8,21 @@ armarx_set_target("Library: ${LIB_NAME}")
armarx_build_if(DMP_FOUND "DMP not available")
# FIND_LIBRARY (RBDL_LIBRARY NAMES librbdl librbdl.so librbdl.so.3.2.0 rbdl
# PATHS
# $ENV{HOME}/local/lib<
# $ENV{HOME}/local/lib/x86_64-linux-gnu
# $ENV{RBDL_PATH}/lib
# ${CMAKE_CURRENT_SOURCE_DIR}/../../../../deps/rbdl/build
# ${CMAKE_CURRENT_SOURCE_DIR}/../../deps/rbdl/build
# /common/homes/students/ulxvc_koch/Workspaces/deps/rbdl/build
# $ENV{RBDL_LIBRARY_PATH}
# /usr/local/lib
# /usr/local/lib/x86_64-linux-gnu
# /usr/lib
# /usr/lib/x86_64-linux-gnu
# )
armarx_add_library(
LIBS
ArmarXCoreInterfaces
......@@ -22,6 +37,7 @@ armarx_add_library(
VirtualRobot
${DMP_LIBRARIES}
# ${RBDL_LIBRARY}
SOURCES
MotionPrimitives/motionprimitives.cpp
......
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