FreeCAD

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# Locate KDL install directory
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# This module defines
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# KDL_INSTALL where to find include, lib, bin, etc.
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# KDL_FOUND, is set to true
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#INCLUDE (${PROJECT_SOURCE_DIR}/config/FindPkgConfig.cmake)
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IF ( CMAKE_PKGCONFIG_EXECUTABLE )
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    MESSAGE( STATUS "Detecting KDL" )
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    SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/")
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    MESSAGE( "Looking for KDL in: ${KDL_INSTALL}")
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    PKGCONFIG( "orocos-kdl >= 0.99" KDL_FOUND KDL_INCLUDE_DIRS KDL_DEFINES KDL_LINK_DIRS KDL_LIBS )
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    IF( KDL_FOUND )
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        MESSAGE("   Includes in: ${KDL_INCLUDE_DIRS}")
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        MESSAGE("   Libraries in: ${KDL_LINK_DIRS}")
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        MESSAGE("   Libraries: ${KDL_LIBS}")
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        MESSAGE("   Defines: ${KDL_DEFINES}")
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	INCLUDE_DIRECTORIES( ${KDL_INCLUDE_DIRS} )
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	LINK_DIRECTORIES( ${KDL_LINK_DIRS})
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	#OROCOS_PKGCONFIG_INCPATH("${KDLTK_INCLUDE_DIRS}")
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	#OROCOS_PKGCONFIG_LIBS("${KDL_LIBS}")
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	#OROCOS_PKGCONFIG_LIBPATH("${KDL_LINK_DIRS}")
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	SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/:${OROCOS_INSTALL}/lib/pkgconfig")
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	MESSAGE( "Looking for KDL Toolkit in: ${PKG_CONFIG_PATH}")
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	PKGCONFIG( "orocos-kdltk-${OROCOS_TARGET} >= 0.99" KDLTK_FOUND KDLTK_INCLUDE_DIRS KDLTK_DEFINES KDLTK_LINK_DIRS KDLTK_LIBS )
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	IF(KDLTK_FOUND)
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	  INCLUDE_DIRECTORIES( ${KDLTK_INCLUDE_DIRS} )
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	  LINK_DIRECTORIES( ${KDLTK_LINK_DIRS})
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	  OROCOS_PKGCONFIG_INCPATH("${KDLTK_INCLUDE_DIRS}")
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	  OROCOS_PKGCONFIG_LIBPATH("${KDLTK_LINK_DIRS}")
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	  OROCOS_PKGCONFIG_LIBS("${KDLTK_LIBS}")
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	  IF(CORBA_ENABLED)
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	    SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/:${OROCOS_INSTALL}/lib/pkgconfig")
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	    MESSAGE("Looking for KDL Toolkit CORBA extension in ${PKG_CONFIG_PATH}")
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	    PKGCONFIG( "orocos-kdltk-corba-${OROCOS_TARGET} >= 0.99" KDLTKCORBA_FOUND KDLTKCORBA_INCLUDE_DIRS KDLTKCORBA_DEFINES KDLTKCORBA_LINK_DIRS KDLTKCORBA_LIBS )
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	    IF(KDLTKCORBA_FOUND)
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	      INCLUDE_DIRECTORIES( ${KDLTKCORBA_INCLUDE_DIRS} )
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	      LINK_DIRECTORIES( ${KDLTKCORBA_LINK_DIRS})
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	      OROCOS_PKGCONFIG_INCPATH("${KDLTKCORBA_INCLUDE_DIRS}")
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	      OROCOS_PKGCONFIG_LIBPATH("${KDLTKCORBA_LINK_DIRS}")
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	      OROCOS_PKGCONFIG_LIBS("${KDLTKCORBA_LIBS}")
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	    ENDIF ( KDLTKCORBA_FOUND )
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	  ENDIF(CORBA_ENABLED)
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	ENDIF ( KDLTK_FOUND )
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      ENDIF ( KDL_FOUND )
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ELSE  ( CMAKE_PKGCONFIG_EXECUTABLE )
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    # Can't find pkg-config -- have to search manually
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    MESSAGE( FATAL_ERROR "Can't find KDL without pkgconfig !")
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ENDIF ( CMAKE_PKGCONFIG_EXECUTABLE )
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