Merge pull request #8 from olivier-stasse/master

cmake changes to detect qpoases

Author: flforget

CMakeLists.txt

@@ -4,24 +4,30 @@ 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)
+# Display all warnings
 SET(CMAKE_VERBOSE_MAKEFILE True)
 
+# Set project identity
 SET(PROJECT_NAME ddp-actuator-solver)
 SET(PROJECT_DESCRIPTION "DDP/iLQR solver for robotics actuators command")
 SET(PROJECT_URL "https://github.com/stack-of-tasks/ddp-actuator-solver")
 
 SETUP_PROJECT()
 
+# 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
   include/ddp-actuator-solver/costfunction.hh
   include/ddp-actuator-solver/dynamicmodel.hh
@@ -35,4 +41,8 @@ ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(test)
 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()

examples/CMakeLists.txt

@@ -30,6 +30,7 @@ SET(header_files
   )
 
 ADD_LIBRARY(${PROJECT_NAME}-examples SHARED ${source_files})
+TARGET_LINK_LIBRARIES(${PROJECT_NAME}-examples ${qpOASES_LIBRARIES})
 
 PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME}-examples eigen3)