[cmake] Use ADD_REQUIRED_DEPENDENCY to get qpoases.

Author: olivier-stasse

CMakeLists.txt

@@ -2,12 +2,6 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
 INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/eigen.cmake)
-INCLUDE(private_cmake/FindqpOASES.cmake)
-
-# Stop if qpOASES is not here
-IF (NOT qpOASES_FOUND)
-  MESSAGE(ERROR " qpOASES not found. Please install it (using robotpkg for instance)")
-ENDIF()
 
 # Compiles despite warnings
 SET(CXX_DISABLE_WERROR True)
@@ -21,11 +15,11 @@ SET(PROJECT_URL "https://github.com/stack-of-tasks/ddp-actuator-solver")
 
 SETUP_PROJECT()
 
+ADD_REQUIRED_DEPENDENCY("qpOASES")
 # Add eigen3 as another needed dependency
 ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
 
 INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
-INCLUDE_DIRECTORIES(${qpOASES_INCLUDEDIR})
 
 # Set the headers to be installed
 SET(${PROJECT_NAME}_HEADERS
@@ -43,6 +37,5 @@ ADD_SUBDIRECTORY(examples)
 
 # Generate dependency to ddp-actuator-solver-examples in pc file
 PKG_CONFIG_APPEND_LIBS(ddp-actuator-solver-examples)
-PKG_CONFIG_APPEND_LIBS(${qpOASES_LIBRARIES})
 
 SETUP_PROJECT_FINALIZE()