69 lines
2.1 KiB
Diff
69 lines
2.1 KiB
Diff
diff -up ./cmake/SearchForStuff.cmake.urdfdom ./cmake/SearchForStuff.cmake
|
|
--- ./cmake/SearchForStuff.cmake.urdfdom 2013-11-08 18:54:46.000000000 -0500
|
|
+++ ./cmake/SearchForStuff.cmake 2013-11-18 20:58:38.478461983 -0500
|
|
@@ -24,3 +24,28 @@ else ()
|
|
"tinyxml include paths. Use this to override automatic detection.")
|
|
set (tinyxml_libraries "tinyxml" CACHE INTERNAL "tinyxml libraries")
|
|
endif ()
|
|
+
|
|
+################################################
|
|
+# Find urdfdom parser
|
|
+pkg_check_modules(URDF urdfdom)
|
|
+if (NOT URDF_FOUND)
|
|
+ set(HAVE_URDF OFF)
|
|
+else()
|
|
+ set (HAVE_URDF ON)
|
|
+endif()
|
|
+
|
|
+################################################
|
|
+# Find gtest
|
|
+find_package(GTest)
|
|
+if (GTEST_FOUND)
|
|
+ set(GTEST_LIBRARY ${GTEST_LIBRARIES})
|
|
+ set(GTEST_MAIN_LIBRARY ${GTEST_MAIN_LIBRARIES})
|
|
+ set(GTEST_INCLUDE_DIR ${GTEST_INCLUDE_DIRS})
|
|
+else()
|
|
+ add_library(gtest STATIC "${PROJECT_SOURCE_DIR}/test/gtest/src/gtest-all.cc")
|
|
+ add_library(gtest_main STATIC "${PROJECT_SOURCE_DIR}/test/gtest/src/gtest_main.cc")
|
|
+ target_link_libraries(gtest_main gtest)
|
|
+ set(GTEST_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest.a")
|
|
+ set(GTEST_MAIN_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest_main.a")
|
|
+ set(GTEST_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/test/gtest/include")
|
|
+endif()
|
|
diff -up ./src/CMakeLists.txt.urdfdom ./src/CMakeLists.txt
|
|
--- ./src/CMakeLists.txt.urdfdom 2013-11-08 18:54:46.000000000 -0500
|
|
+++ ./src/CMakeLists.txt 2013-11-18 20:49:03.148208553 -0500
|
|
@@ -15,6 +15,13 @@ set (sources
|
|
parser_urdf.cc
|
|
Param.cc
|
|
SDF.cc
|
|
+)
|
|
+
|
|
+if (HAVE_URDF)
|
|
+ include_directories(${URDF_INCLUDE_DIRS})
|
|
+else(HAVE_URDF)
|
|
+ include_directories(${CMAKE_CURRENT_SOURCE_DIR}/urdf)
|
|
+ set(sources ${sources}
|
|
urdf/urdf_parser/model.cpp
|
|
urdf/urdf_parser/link.cpp
|
|
urdf/urdf_parser/joint.cpp
|
|
@@ -24,6 +31,7 @@ set (sources
|
|
urdf/urdf_parser/urdf_sensor.cpp
|
|
urdf/urdf_parser/world.cpp
|
|
)
|
|
+endif(HAVE_URDF)
|
|
|
|
set (gtest_sources
|
|
SDF_TEST.cc
|
|
@@ -38,4 +46,10 @@ target_link_libraries(sdformat
|
|
${tinyxml_libraries}
|
|
${Boost_LIBRARIES}
|
|
)
|
|
+if (HAVE_URDF)
|
|
+ target_link_libraries(sdformat
|
|
+ ${URDF_LIBRARIES}
|
|
+ )
|
|
+endif(HAVE_URDF)
|
|
+
|
|
sdf_install_library(sdformat)
|