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build system
directly derived from other files inside eigenpy
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‎examples/custom_numeric_type/CMakeLists.txt‎

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# derived from eigenpy/CMakeLists.txt for this example
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cmake_minimum_required(VERSION 3.1)
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set(PROJECT_NAME eigenpy_example_custom_numeric_type)
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set(PROJECT_DESCRIPTION "An example of using eigenpy with a custom numeric type: Boost.Multiprecision complex numbers")
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set(PROJECT_URL "http://github.com/stack-of-tasks/eigenpy/examples/custom_numeric_type")
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set(PROJECT_USE_CMAKE_EXPORT TRUE)
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set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
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set(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
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set(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
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# Check if the submodule cmake have been initialized
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set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
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if(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
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if(${CMAKE_VERSION} VERSION_LESS "3.14.0")
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message(
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FATAL_ERROR
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"\nPlease run the following command first:\ngit submodule update --init\n"
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)
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else()
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message(STATUS "JRL cmakemodules not found. Let's fetch it.")
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include(FetchContent)
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FetchContent_Declare(
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"jrl-cmakemodules"
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GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
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FetchContent_MakeAvailable("jrl-cmakemodules")
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FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
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endif()
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endif()
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# Disable -Werror on Unix for now.
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set(CXX_DISABLE_WERROR True)
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set(CMAKE_VERBOSE_MAKEFILE True)
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option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
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option(SUFFIX_SO_VERSION "Suffix library name with its version" OFF)
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if(DEFINED BUILD_UNIT_TESTS)
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message(
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AUTHOR_WARNING
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"BUILD_UNIT_TESTS is deprecated. Use BUILD_TESTING instead.")
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set(BUILD_TESTING ${BUILD_UNIT_TESTS})
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endif(DEFINED BUILD_UNIT_TESTS)
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include("${JRL_CMAKE_MODULES}/base.cmake")
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compute_project_args(PROJECT_ARGS LANGUAGES CXX)
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project(${PROJECT_NAME} ${PROJECT_ARGS})
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include("${JRL_CMAKE_MODULES}/boost.cmake")
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include("${JRL_CMAKE_MODULES}/python.cmake")
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include("${JRL_CMAKE_MODULES}/ide.cmake")
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include("${JRL_CMAKE_MODULES}/apple.cmake")
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option(GENERATE_PYTHON_STUBS
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"Generate the Python stubs associated to the Python library" OFF)
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string(REPLACE "-pedantic" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
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# If needed, fix CMake policy for APPLE systems
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apply_default_apple_configuration()
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check_minimal_cxx_standard(11 ENFORCE)
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if(WIN32)
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set(LINK copy_if_different)
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else(WIN32)
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set(LINK create_symlink)
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endif(WIN32)
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if(CMAKE_CROSSCOMPILING)
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set(PYTHON_COMPONENTS Interpreter NumPy)
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else()
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set(PYTHON_COMPONENTS Interpreter Development.Module NumPy)
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endif()
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set(PYTHON_EXPORT_DEPENDENCY ON)
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findpython(REQUIRED)
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if(${NUMPY_VERSION} VERSION_LESS "1.16.0")
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set(NUMPY_WITH_BROKEN_UFUNC_SUPPORT TRUE)
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endif()
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if(WIN32)
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link_directories(${PYTHON_LIBRARY_DIRS})
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# # Set default Windows build paths SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY
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# ${PROJECT_BINARY_DIR}/Bin CACHE PATH "Single directory for all libraries")
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# SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/Bin CACHE PATH
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# "Single directory for all executables") SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY
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# ${PROJECT_BINARY_DIR}/Bin CACHE PATH "Sing$le directory for all archives")
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endif(WIN32)
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# ----------------------------------------------------
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# --- DEPENDENCIES -----------------------------------
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# ----------------------------------------------------
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add_project_dependency(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
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add_project_dependency(eigenpy REQUIRED PKG_CONFIG_REQUIRES "eigenpy >= 3.0.0")
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set_boost_default_options()
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export_boost_default_options()
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find_package(Boost REQUIRED)
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search_for_boost_python(REQUIRED)
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# ----------------------------------------------------
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# --- INCLUDE ----------------------------------------
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# ----------------------------------------------------
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set(${PROJECT_NAME}_HEADERS
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include/header.hpp)
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set(${PROJECT_NAME}_SOURCES src/src.cpp)
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add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
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${${PROJECT_NAME}_HEADERS})
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target_include_directories(
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${PROJECT_NAME} SYSTEM
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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modernize_target_link_libraries(
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${PROJECT_NAME}
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SCOPE
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PUBLIC
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TARGETS
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Eigen3::Eigen
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INCLUDE_DIRS
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${EIGEN3_INCLUDE_DIR})
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modernize_target_link_libraries(
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${PROJECT_NAME}
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SCOPE
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PUBLIC
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TARGETS
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Python${PYTHON_VERSION_MAJOR}::NumPy
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INCLUDE_DIRS
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${NUMPY_INCLUDE_DIRS}
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${PYTHON_INCLUDE_DIR})
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if(SUFFIX_SO_VERSION)
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set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
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endif(SUFFIX_SO_VERSION)
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if(NOT WIN32)
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target_compile_options(
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${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj>
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"-Wno-conversion")
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else()
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target_compile_options(${PROJECT_NAME}
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PRIVATE $<$<CXX_COMPILER_ID:MSVC>:-bigobj>)
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target_compile_definitions(${PROJECT_NAME} PUBLIC "HAVE_SNPRINTF")
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endif()
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target_link_boost_python(${PROJECT_NAME} PUBLIC)
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install(
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TARGETS ${PROJECT_NAME}
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EXPORT ${TARGETS_EXPORT_NAME}
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PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
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INCLUDES
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DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
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RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
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add_header_group(${PROJECT_NAME}_HEADERS)
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add_source_group(${PROJECT_NAME}_SOURCES)
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# Install package for ROS
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install(FILES package.xml DESTINATION share/example_)
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# Allows Colcon to find non-Ament packages when using workspace underlays
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file(
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WRITE
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${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
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"")
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install(
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FILES
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${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
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DESTINATION share/ament_index/resource_index/packages)
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file(
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WRITE
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${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
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"prepend-non-duplicate;AMENT_PREFIX_PATH;")
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install(
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FILES
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${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
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DESTINATION share/${PROJECT_NAME}/hook)
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file(WRITE
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${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
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"prepend-non-duplicate;PYTHONPATH;${PYTHON_SITELIB}")
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install(
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FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
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DESTINATION share/${PROJECT_NAME}/hook)
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# ----------------------------------------------------
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# --- PYTHON LIBRARY ---------------------------------
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# ----------------------------------------------------
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#add_subdirectory(python)
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pkg_config_append_libs(${PROJECT_NAME})
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pkg_config_append_cflags("-I${PYTHON_INCLUDE_DIRS}")
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pkg_config_append_cflags("-I${NUMPY_INCLUDE_DIRS}")
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pkg_config_append_boost_libs(${BOOST_COMPONENTS})
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‎examples/custom_numeric_type/package.xml‎

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<?xml version="1.0"?>
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<package format="3">
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<name>eigenpy_example_custom_numeric_type</name>
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<version>3.0.0</version>
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<description>Example of using EigenPy to enable custom numeric types with Eigen</description>
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<maintainer email="[email protected]">Justin Carpentier</maintainer>
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<maintainer email="[email protected]">Wolfgang Merkt</maintainer>
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<author>Justin Carpentier</author>
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<author>Nicolas Mansard</author>
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<license>BSD</license>
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<url type="website">https://github.com/stack-of-tasks/eigenpy/examples/custom_numeric_type</url>
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<build_depend>git</build_depend>
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<build_depend>doxygen</build_depend>
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<!-- The following tag is recommended by REP-136 -->
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<exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
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<depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
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<depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
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<depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
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<depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
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<depend>eigen</depend>
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<depend>boost</depend>
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<depend>eigenpy</depend>
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<buildtool_depend>cmake</buildtool_depend>
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<export>
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<build_type>cmake</build_type>
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</export>
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</package>

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