ARC-OPT · dmronga · Mar 1, 2024 · Mar 1, 2024
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,7 +1,8 @@
 cmake_minimum_required (VERSION 3.16.3)
 project(wbc)
 
-include(FindPkgConfig)
+find_package(PkgConfig REQUIRED)
+find_package(Boost REQUIRED COMPONENTS system filesystem unit_test_framework serialization)
 
 set(PROJECT_VERSION 0.2)
 set(API_VERSION ${PROJECT_VERSION})

diff --git a/src/controllers/test/CMakeLists.txt b/src/controllers/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_pot_field_controllers test_pot_field_controllers.cpp)
 target_link_libraries(test_pot_field_controllers
                       wbc-controllers

diff --git a/src/core/test/CMakeLists.txt b/src/core/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_core test_core.cpp)
 target_link_libraries(test_core
                       wbc-core

diff --git a/src/robot_models/hyrodyn/test/CMakeLists.txt b/src/robot_models/hyrodyn/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_robot_model_hyrodyn test_robot_model_hyrodyn.cpp ../../test/test_robot_model.cpp)
 target_link_libraries(test_robot_model_hyrodyn
                       wbc-robot_models-hyrodyn

diff --git a/src/robot_models/kdl/test/CMakeLists.txt b/src/robot_models/kdl/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_robot_model_kdl test_robot_model_kdl.cpp ../../test/test_robot_model.cpp)
 target_link_libraries(test_robot_model_kdl
                       wbc-robot_models-kdl

diff --git a/src/robot_models/pinocchio/test/CMakeLists.txt b/src/robot_models/pinocchio/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_robot_model_pinocchio test_robot_model_pinocchio.cpp ../../test/test_robot_model.cpp)
 target_link_libraries(test_robot_model_pinocchio
                       wbc-robot_models-pinocchio

diff --git a/src/robot_models/rbdl/test/CMakeLists.txt b/src/robot_models/rbdl/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_robot_model_rbdl test_robot_model_rbdl.cpp ../../test/test_robot_model.cpp)
 target_link_libraries(test_robot_model_rbdl
                       wbc-robot_models-rbdl

diff --git a/src/robot_models/test/CMakeLists.txt b/src/robot_models/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_model_consistency test_model_consistency.cpp test_robot_model.cpp)
 target_link_libraries(test_model_consistency
                      wbc-robot_models-hyrodyn

diff --git a/src/scenes/acceleration/test/CMakeLists.txt b/src/scenes/acceleration/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_acceleration_scene test_acceleration_scene.cpp)
 target_link_libraries(test_acceleration_scene
                       wbc-scenes-acceleration

diff --git a/src/scenes/acceleration_reduced_tsid/test/CMakeLists.txt b/src/scenes/acceleration_reduced_tsid/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_acceleration_scene_reduced_tsid test_acceleration_scene_reduced_tsid.cpp)
 target_link_libraries(test_acceleration_scene_reduced_tsid
                       wbc-scenes-acceleration_reduced_tsid

diff --git a/src/scenes/acceleration_tsid/test/CMakeLists.txt b/src/scenes/acceleration_tsid/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_acceleration_scene_tsid test_acceleration_scene_tsid.cpp)
 target_link_libraries(test_acceleration_scene_tsid
                       wbc-scenes-acceleration_tsid

diff --git a/src/scenes/velocity/test/CMakeLists.txt b/src/scenes/velocity/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_velocity_scene test_velocity_scene.cpp)
 target_link_libraries(test_velocity_scene
                       wbc-scenes-velocity

diff --git a/src/scenes/velocity_qp/test/CMakeLists.txt b/src/scenes/velocity_qp/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_velocity_scene_quadratic_cost test_velocity_scene_quadratic_cost.cpp)
 target_link_libraries(test_velocity_scene_quadratic_cost
                       wbc-scenes-velocity_qp

diff --git a/src/solvers/eiquadprog/test/CMakeLists.txt b/src/solvers/eiquadprog/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_eiquadprog_solver test_eiquadprog_solver.cpp)
 target_link_libraries(test_eiquadprog_solver
                       wbc-solvers-eiquadprog

diff --git a/src/solvers/hls/test/CMakeLists.txt b/src/solvers/hls/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_hls_solver test_hls_solver.cpp)
 target_link_libraries(test_hls_solver
                       wbc-solvers-hls

diff --git a/src/solvers/proxqp/test/CMakeLists.txt b/src/solvers/proxqp/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_proxqp_solver test_proxqp_solver.cpp)
 target_link_libraries(test_proxqp_solver
                       wbc-solvers-proxqp

diff --git a/src/solvers/qpoases/test/CMakeLists.txt b/src/solvers/qpoases/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_qpoases_solver test_qpoases_solver.cpp)
 target_link_libraries(test_qpoases_solver
                       wbc-solvers-qpoases

diff --git a/src/solvers/qpswift/test/CMakeLists.txt b/src/solvers/qpswift/test/CMakeLists.txt
@@ -1,4 +1,3 @@
-find_package(Boost COMPONENTS system filesystem unit_test_framework serialization REQUIRED)
 add_executable(test_qpswift_solver test_qpswift_solver.cpp)
 target_link_libraries(test_qpswift_solver
                       wbc-solvers-qpswift