CMakeLists.txt

#
# The find_package macro for Orocos-RTT works best with
# cmake >= 2.6.3
#
cmake_minimum_required(VERSION 2.6.3)

set(CMAKE_PREFIX_PATH /vol/cogimon)

#
# This creates a standard cmake project. You may extend this file with
# any cmake macro you see fit.
#
project(RTTController)

# Use 'source orocos_toolchain/env.sh' if the command below fails:
find_package(OROCOS-RTT)
if (NOT OROCOS-RTT_FOUND)
  message (FATAL_ERROR "\nCould not find Orocos. Please use the shell command\n 'source orocos_toolchain/env.sh' and then run cmake again.")
endif()

# Defines the orocos_* cmake macros. See that file for additional
# documentation.
include( ${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake )

find_package(RCI REQUIRED)
message(STATUS "RCI version: ${RCI_VERSION}")	
include_directories(BEFORE SYSTEM ${RCI_INCLUDE_DIRS})	
add_definitions(${RCI_CFLAGS})
link_directories(${RCI_LIBRARY_DIR})

find_package(RSC REQUIRED)
message(STATUS "RSC version: ${RSC_VERSION}")	
include_directories(BEFORE SYSTEM ${RSC_INCLUDE_DIRS})	
add_definitions(${RSC_CFLAGS})
link_directories(${RSC_LIBRARY_DIR})

find_package(RSB 0.13 REQUIRED)	
message(STATUS "RSB version: ${RSB_VERSION}")	
include_directories(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})	
add_definitions(${RSB_DEFINITIONS})

find_package(NemoMath REQUIRED)
message(STATUS "NemoMath version: ${NemoMath_VERSION}")	
include_directories(BEFORE SYSTEM ${NemoMath_INCLUDE_DIRS})	
add_definitions(${NemoMath_CFLAGS})
link_directories(${NemoMath_LIBRARY_DIR})

#find_package(RTTToolchainTools)
#message(STATUS "RTTToolchainTools version: ${RTTToolchainTools_VERSION}")	
#include_directories(BEFORE SYSTEM ${RTTToolchainTools_INCLUDE_DIRS})	
#add_definitions(${RTTToolchainTools_CFLAGS})
#link_directories(${RTTToolchainTools_LIBRARY_DIR})

find_package(orocos_kdl REQUIRED)
message(STATUS "orocos_kdl version: ${orocos_kdl_VERSION}")
include_directories(BEFORE SYSTEM ${orocos_kdl_INCLUDE_DIRS})	
add_definitions(${orocos_kdl_CFLAGS})
link_directories(${orocos_kdl_LIBRARY_DIR})

find_package(PkgConfig REQUIRED)
pkg_search_module(TINYXML REQUIRED tinyxml)
if(NOT TINYXML_INCLUDE_DIR)
	find_path("/usr/include" tinyxml.h)
	find_library(TINYXML_LIBRARY NAMES tinyxml)
	set(TINYXML_LIBRARIES ${TINYXML_LIBRARY})
    set(TINYXML_INCLUDE_DIRS ${TINYXML_INCLUDE_DIR})
    set(TINYXML_LIBRARY_DIR "/usr/lib/x86_64-linux-gnu")
endif()
message(STATUS "TINYXML_VERSION: ${TINYXML_VERSION}")
include_directories(BEFORE SYSTEM ${TINYXML_INCLUDE_DIRS})
link_directories(${TINYXML_LIBRARY_DIR})
message(STATUS "TINYXML_LIBRARIES: ${TINYXML_LIBRARIES}")
message(STATUS "TINYXML_LIBRARY_DIR: ${TINYXML_LIBRARY_DIR}")
message(STATUS "TINYXML_INCLUDE_DIR: ${TINYXML_INCLUDE_DIRS}")
message(STATUS "TINYXML_LIBRARY: ${TINYXML_LIBRARY}")

# Rest of the configuration is in src/
add_subdirectory( src )

#
# Generates and installs our package. Must be the last statement such
# that it can pick up all above settings.
#
orocos_generate_package()