diff --git a/source/RobotAPI/GraspingWithTorques/CMakeLists.txt b/source/RobotAPI/GraspingWithTorques/CMakeLists.txt
index c9dd67ad340e49cf4b89a75a0db35f88430467fd..3f4d1563f2e9ad7ff3fa6cf95ad8183c69ca3fc0 100644
--- a/source/RobotAPI/GraspingWithTorques/CMakeLists.txt
+++ b/source/RobotAPI/GraspingWithTorques/CMakeLists.txt
@@ -7,25 +7,21 @@ find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-if (ARMARX_BUILD)
- include_directories(${Eigen3_INCLUDE_DIR})
- include_directories(${Simox_INCLUDE_DIRS})
-
- set(LIB_NAME GraspingWithTorques)
- set(LIB_VERSION 0.1.0)
- set(LIB_SOVERSION 0)
-
- set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
+if (Eigen3_FOUND AND Simox_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR}
+ ${Simox_INCLUDE_DIRS})
+endif()
- set(LIB_FILES GraspingWithTorques.cpp
- )
- set(LIB_HEADERS GraspingWithTorques.h
- )
+set(LIB_NAME GraspingWithTorques)
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
- add_library(${LIB_NAME} SHARED ${LIB_FILES} ${LIB_HEADERS})
+set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
- library_settings("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_HEADERS}")
- target_link_ice(${LIB_NAME})
- target_link_libraries(${LIB_NAME} ${LIBS})
-endif()
+set(LIB_FILES GraspingWithTorques.cpp
+ )
+set(LIB_HEADERS GraspingWithTorques.h
+ )
+armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/GraspingWithTorques/GraspingWithTorques.cpp b/source/RobotAPI/GraspingWithTorques/GraspingWithTorques.cpp
index 23d7a53bce89a5e986e2f34b1fc0294ebd87a743..9d5477b5501d5740ca34e3fdd6930c70f4b49a9d 100644
--- a/source/RobotAPI/GraspingWithTorques/GraspingWithTorques.cpp
+++ b/source/RobotAPI/GraspingWithTorques/GraspingWithTorques.cpp
@@ -381,7 +381,8 @@ namespace armarx
//rsContext->kinematicUnitPrx->setJointTorques(jointNamesAndValues);
- rsContext->kinematicUnitPrx->setJointVelocities(jointNamesAndValues);
+
+ //rsContext->kinematicUnitPrx->setJointVelocities(jointNamesAndValues); //Auskommentiert nach letztem Test MP 2014-02-20
diff --git a/source/RobotAPI/OpenHand/CMakeLists.txt b/source/RobotAPI/OpenHand/CMakeLists.txt
index dd55325ebcf5ac8d64eae8b922522e83a29afe70..b049ee78d1a4eb4483ae1a1de14eee4f3f15c930 100644
--- a/source/RobotAPI/OpenHand/CMakeLists.txt
+++ b/source/RobotAPI/OpenHand/CMakeLists.txt
@@ -1,31 +1,26 @@
armarx_set_target("RobotAPI Library: OpenHand")
-
find_package(Eigen3 QUIET)
find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-if (ARMARX_BUILD)
- include_directories(${Eigen3_INCLUDE_DIR})
- include_directories(${Simox_INCLUDE_DIRS})
-
- set(LIB_NAME OpenHand)
- set(LIB_VERSION 0.1.0)
- set(LIB_SOVERSION 0)
-
- set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
+if (Eigen3_FOUND AND Simox_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR}
+ ${Simox_INCLUDE_DIRS})
+endif()
- set(LIB_FILES OpenHand.cpp
- )
- set(LIB_HEADERS OpenHand.h
- )
+set(LIB_NAME OpenHand)
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
- add_library(${LIB_NAME} SHARED ${LIB_FILES} ${LIB_HEADERS})
+set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
- library_settings("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_HEADERS}")
- target_link_ice(${LIB_NAME})
- target_link_libraries(${LIB_NAME} ${LIBS})
-endif()
+set(LIB_FILES OpenHand.cpp
+ )
+set(LIB_HEADERS OpenHand.h
+ )
+armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
index ec2db460d037b4fc9710dcf221b46b0e85974caf..449734e08065f0bade441eb2d435caf1eb2de911 100755
--- a/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
+++ b/source/RobotAPI/applications/ForceTorqueObserver/CMakeLists.txt
@@ -1,26 +1,15 @@
armarx_component_set_name(ForceTorqueObserver)
-set(COMPONENT_BUILD TRUE)
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
find_package(Simox QUIET)
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-armarx_build_if(COMPONENT_BUILD "component disabled")
-# check if ArmarXCoreUnits library gets built
-# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
-GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
-armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
+set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot)
-GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
-armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
+set(SOURCES main.cpp ForceTorqueObserverApp.h)
-
-if (ARMARX_BUILD)
- set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot)
-
- set(SOURCES main.cpp ForceTorqueObserverApp.h)
-
- armarx_add_component_executable("${SOURCES}")
-endif()
+armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/MotionControl/CMakeLists.txt b/source/RobotAPI/applications/MotionControl/CMakeLists.txt
index 8ef8e13303ec444a8e10202806c6cd7250d8d4d8..65c7ee082dbf861f5c0a489e1999ead63da481cd 100755
--- a/source/RobotAPI/applications/MotionControl/CMakeLists.txt
+++ b/source/RobotAPI/applications/MotionControl/CMakeLists.txt
@@ -1,26 +1,15 @@
armarx_component_set_name(MotionControl)
-set(COMPONENT_BUILD TRUE)
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
find_package(Simox QUIET)
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-armarx_build_if(COMPONENT_BUILD "component disabled")
-# check if ArmarXCoreUnits library gets built
-# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
-GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
-armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
+set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
-GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
-armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
+set(SOURCES main.cpp MotionControlApp.h)
-
-if (ARMARX_BUILD)
- set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
-
- set(SOURCES main.cpp MotionControlApp.h)
-
- armarx_add_component_executable("${SOURCES}")
-endif()
+armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt b/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
index d3aa797522176b234a18e409bae4d0208a29ba44..1d9334a529d21a2724aa4fbf24895c81d5efe76d 100644
--- a/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
+++ b/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
@@ -1,28 +1,20 @@
armarx_component_set_name(MotionControlTest)
-set(COMPONENT_BUILD TRUE)
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
find_package(Simox QUIET)
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-armarx_build_if(COMPONENT_BUILD "component disabled")
-
-# check if ArmarXCoreUnits library gets built
-# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
-GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
-armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
-
-GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
-armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
-
+if (Eigen3_FOUND AND Simox_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR}
+ ${Simox_INCLUDE_DIRS})
+endif()
-if (ARMARX_BUILD)
- include_directories(${Eigen3_INCLUDE_DIR})
- include_directories(${Simox_INCLUDE_DIRS})
- set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations ${Simox_LIBRARIES})
+set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations ${Simox_LIBRARIES})
- set(SOURCES main.cpp MotionControlTestApp.h)
+set(SOURCES main.cpp MotionControlTestApp.h)
- armarx_add_component_executable("${SOURCES}")
-endif()
+armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
index 81d0f4e078f3201247d40e4d759d1a4c29f06faf..c914803ce89b716f6ce7e82e844f599a6b205023 100755
--- a/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
+++ b/source/RobotAPI/applications/TCPControlUnit/CMakeLists.txt
@@ -1,28 +1,20 @@
armarx_component_set_name(TCPControlUnit)
-set(COMPONENT_BUILD TRUE)
+find_package(Eigen3 QUIET)
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
find_package(Simox QUIET)
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-armarx_build_if(COMPONENT_BUILD "component disabled")
-
-# check if ArmarXCoreUnits library gets built
-# LOCATION is NOT-FOUND (equal to FALSE) if library is disabled
-GET_TARGET_PROPERTY(ArmarXCoreUnits_ENABLED ArmarXCoreUnits LOCATION)
-armarx_build_if(ArmarXCoreUnits_ENABLED "ArmarXCoreUnits library disabled")
-
-GET_TARGET_PROPERTY(ArmarXCoreObservers_ENABLED ArmarXCoreObservers LOCATION)
-armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disabled")
-
+if (Eigen3_FOUND AND Simox_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR}
+ ${Simox_INCLUDE_DIRS})
+endif()
-if (ARMARX_BUILD)
- include_directories(${Eigen3_INCLUDE_DIR})
- include_directories(${Simox_INCLUDE_DIRS})
- set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
+set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
- set(SOURCES main.cpp TCPControlUnitApp.h)
+set(SOURCES main.cpp TCPControlUnitApp.h)
- armarx_add_component_executable("${SOURCES}")
-endif()
+armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/core/CMakeLists.txt b/source/RobotAPI/core/CMakeLists.txt
index bce671fb8baee1b7cc9d2c560da66c9817164d77..fbd863514af886be08e9d78a68cc0430ceae759d 100644
--- a/source/RobotAPI/core/CMakeLists.txt
+++ b/source/RobotAPI/core/CMakeLists.txt
@@ -7,26 +7,21 @@ find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-if (ARMARX_BUILD)
- include_directories(${Eigen3_INCLUDE_DIR})
- include_directories(${Simox_INCLUDE_DIRS})
-
- set(LIB_NAME RobotAPICore)
- set(LIB_VERSION 0.1.0)
- set(LIB_SOVERSION 0)
-
- set(LIBS RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreStatechart ArmarXCoreRobotStateComponent ${Simox_LIBRARIES})
-
- set(LIB_FILES RobotStatechartContext.cpp
- )
- set(LIB_HEADERS RobotStatechartContext.h
- )
+if (Eigen3_FOUND AND Simox_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR}
+ ${Simox_INCLUDE_DIRS})
+endif()
+set(LIB_NAME RobotAPICore)
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
- add_library(${LIB_NAME} SHARED ${LIB_FILES} ${LIB_HEADERS})
+set(LIBS RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreStatechart ArmarXCoreRobotStateComponent ${Simox_LIBRARIES})
- library_settings("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_HEADERS}")
- target_link_ice(${LIB_NAME})
- target_link_libraries(${LIB_NAME} ${LIBS})
-endif()
+set(LIB_FILES RobotStatechartContext.cpp
+)
+set(LIB_HEADERS RobotStatechartContext.h
+)
+armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/motioncontrol/CMakeLists.txt b/source/RobotAPI/motioncontrol/CMakeLists.txt
index e004bdbdf77567900af350e185307ea4be2287fa..9abf0ef3d4b0880fd0430b8ff887bd93d8c3f386 100644
--- a/source/RobotAPI/motioncontrol/CMakeLists.txt
+++ b/source/RobotAPI/motioncontrol/CMakeLists.txt
@@ -7,28 +7,22 @@ find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-if (ARMARX_BUILD)
- include_directories(${Eigen3_INCLUDE_DIR})
- include_directories(${Simox_INCLUDE_DIRS})
-
- set(LIB_NAME MotionControl)
- set(LIB_VERSION 0.1.0)
- set(LIB_SOVERSION 0)
-
- set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ${Simox_LIBRARIES})
-
- set(LIB_FILES MotionControl.cpp
- ZeroForceControl.cpp)
- set(LIB_HEADERS MotionControl.h
- ZeroForceControl.h)
+if (Eigen3_FOUND AND Simox_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR}
+ ${Simox_INCLUDE_DIRS})
+endif()
- add_library(${LIB_NAME} SHARED ${LIB_FILES} ${LIB_HEADERS})
+set(LIB_NAME MotionControl)
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
- library_settings("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_HEADERS}")
- target_link_ice(${LIB_NAME})
- target_link_libraries(${LIB_NAME} ${LIBS})
+set(LIBS RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers ${Simox_LIBRARIES})
+set(LIB_FILES MotionControl.cpp
+ ZeroForceControl.cpp)
+set(LIB_HEADERS MotionControl.h
+ ZeroForceControl.h)
-endif()
+armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
-add_subdirectory(DMPControl)
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/units/CMakeLists.txt
index 1e55aa78190e4986a641a8f59eaccf85308dd92e..48752665d33d997dcd51d11b2bd19c7a0222638f 100755
--- a/source/RobotAPI/units/CMakeLists.txt
+++ b/source/RobotAPI/units/CMakeLists.txt
@@ -7,33 +7,28 @@ find_package(Simox QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
-if (ARMARX_BUILD)
- include_directories(${Eigen3_INCLUDE_DIR})
- include_directories(${Simox_INCLUDE_DIRS})
-
- set(LIB_NAME RobotAPIUnits)
- set(LIB_VERSION 0.1.0)
- set(LIB_SOVERSION 0)
-
- set(LIBS RobotAPIInterfaces RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
-
- set(LIB_HEADERS
- ForceTorqueObserver.h
- TCPControlUnit.h
- TCPControlUnitObserver.h
+if (Eigen3_FOUND AND Simox_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR}
+ ${Simox_INCLUDE_DIRS})
+endif()
- )
- set(LIB_FILES
- ForceTorqueObserver.cpp
- TCPControlUnit.cpp
- TCPControlUnitObserver.cpp
- )
+set(LIB_NAME RobotAPIUnits)
+set(LIB_VERSION 0.1.0)
+set(LIB_SOVERSION 0)
+set(LIBS RobotAPIInterfaces RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRemoteRobot ${Simox_LIBRARIES})
- add_library(${LIB_NAME} SHARED ${LIB_FILES} ${LIB_HEADERS})
+set(LIB_HEADERS
+ ForceTorqueObserver.h
+ TCPControlUnit.h
+ TCPControlUnitObserver.h
- library_settings("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_HEADERS}")
- target_link_ice(${LIB_NAME})
- target_link_libraries(${LIB_NAME} ${LIBS})
-endif()
+)
+set(LIB_FILES
+ ForceTorqueObserver.cpp
+ TCPControlUnit.cpp
+ TCPControlUnitObserver.cpp
+)
+armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")