Merge pull request #4 from olivier-stasse/master

[cmake] Find qpoases through cmake.

Author: flforget

CMakeLists.txt

@@ -2,6 +2,11 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
 INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/eigen.cmake)
+INCLUDE(private_cmake/FindqpOASES.cmake)
+
+IF (NOT qpOASES_FOUND)
+  MESSAGE(ERROR " qpOASES not found. Please install it (using robotpkg for instance)")
+ENDIF()
 
 SET(CXX_DISABLE_WERROR True)
 SET(CMAKE_VERBOSE_MAKEFILE True)
@@ -13,9 +18,9 @@ SET(PROJECT_URL "https://github.com/stack-of-tasks/ddp-actuator-solver")
 SETUP_PROJECT()
 
 ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
-ADD_REQUIRED_DEPENDENCY("qpOASES")
 
 INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
+INCLUDE_DIRECTORIES(${qpOASES_INCLUDEDIR})
 
 SET(${PROJECT_NAME}_HEADERS
   include/ddp-actuator-solver/costfunction.hh

examples/CMakeLists.txt

@@ -3,8 +3,7 @@ macro(_local_test_ddp)
   set(list_var "${ARGN}")
   foreach(loop_var IN LISTS list_var)
     ADD_EXECUTABLE(${loop_var} ${loop_var}.cpp)
-    TARGET_LINK_LIBRARIES(${loop_var} ${PROJECT_NAME})
-    PKG_CONFIG_USE_DEPENDENCY(${loop_var} qpOASES)
+    TARGET_LINK_LIBRARIES(${loop_var} ${PROJECT_NAME} ${qpOASES_LIBRARIES})
     PKG_CONFIG_USE_DEPENDENCY(${loop_var} eigen3)
   endforeach()
 endmacro()

private_cmake/FindqpOASES.cmake

@@ -0,0 +1,51 @@
+#.rst:
+# FindqpOASES
+# -----------
+#
+# Try to find the qpOASES library.
+# Once done this will define the following variables::
+#
+#  qpOASES_FOUND         - System has qpOASES
+#  qpOASES_INCLUDE_DIRS  - qpOASES include directory
+#  qpOASES_LIBRARIES     - qpOASES libraries
+#
+# qpOASES does not have an "install" step, and the includes are in the source
+# tree, while the libraries are in the build tree.
+# Therefore the environment and cmake variables `qpOASES_SOURCE_DIR` and
+# `qpOASES_BINARY_DIR` will be used to locate the includes and libraries.
+
+#=============================================================================
+# Copyright 2014 iCub Facility, Istituto Italiano di Tecnologia
+#   Authors: Daniele E. Domenichelli <[email protected]>
+#
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
+#=============================================================================
+# (To distribute this file outside of YCM, substitute the full
+#  License text for the above reference.)
+
+
+include(FindPackageHandleStandardArgs)
+
+find_path(qpOASES_INCLUDEDIR
+          NAMES qpOASES.hpp
+          HINTS "${qpOASES_SOURCE_DIR}"
+                ENV qpOASES_SOURCE_DIR
+          PATH_SUFFIXES include)
+find_library(qpOASES_LIB
+             NAMES qpOASES
+             HINTS "${qpOASES_BINARY_DIR}"
+                   ENV qpOASES_BINARY_DIR
+             PATH_SUFFIXES lib
+                           libs)
+
+set(qpOASES_INCLUDE_DIRS ${qpOASES_INCLUDEDIR})
+set(qpOASES_LIBRARIES ${qpOASES_LIB})
+
+find_package_handle_standard_args(qpOASES DEFAULT_MSG qpOASES_LIBRARIES
+                                                      qpOASES_INCLUDE_DIRS)
+set(qpOASES_FOUND ${QPOASES_FOUND})