Initial commit

2026-06-01 15:55:59 +08:00
commit 40f9bdb590
1799 changed files with 362227 additions and 0 deletions
--- a/KDL/install/share/orocos_kdl/cmake/FindEigen3.cmake
+++ b/KDL/install/share/orocos_kdl/cmake/FindEigen3.cmake
@@ -0,0 +1,89 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+#
+# This module reads hints about search locations from 
+# the following environment variables:
+#
+# EIGEN3_ROOT
+# EIGEN3_ROOT_DIR
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
+  endif(NOT Eigen3_FIND_VERSION_MAJOR)
+  if(NOT Eigen3_FIND_VERSION_MINOR)
+    set(Eigen3_FIND_VERSION_MINOR 91)
+  endif(NOT Eigen3_FIND_VERSION_MINOR)
+  if(NOT Eigen3_FIND_VERSION_PATCH)
+    set(Eigen3_FIND_VERSION_PATCH 0)
+  endif(NOT Eigen3_FIND_VERSION_PATCH)
+
+  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK FALSE)
+  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK TRUE)
+  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+
+  if(NOT EIGEN3_VERSION_OK)
+
+    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+                   "but at least version ${Eigen3_FIND_VERSION} is required")
+  endif(NOT EIGEN3_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if (EIGEN3_INCLUDE_DIR)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+
+else (EIGEN3_INCLUDE_DIR)
+
+  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+      HINTS
+      ENV EIGEN3_ROOT 
+      ENV EIGEN3_ROOT_DIR
+      PATHS
+      ${CMAKE_INSTALL_PREFIX}/include
+      ${KDE4_INCLUDE_DIR}
+      PATH_SUFFIXES eigen3 eigen
+    )
+
+  if(EIGEN3_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif(EIGEN3_INCLUDE_DIR)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+  mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif(EIGEN3_INCLUDE_DIR)
--- a/KDL/install/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake
+++ b/KDL/install/share/orocos_kdl/cmake/OrocosKDLTargets-release.cmake
@@ -0,0 +1,19 @@
+#----------------------------------------------------------------
+# Generated CMake target import file for configuration "Release".
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "orocos-kdl" for configuration "Release"
+set_property(TARGET orocos-kdl APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(orocos-kdl PROPERTIES
+  IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/orocos-kdl.lib"
+  )
+
+list(APPEND _cmake_import_check_targets orocos-kdl )
+list(APPEND _cmake_import_check_files_for_orocos-kdl "${_IMPORT_PREFIX}/lib/orocos-kdl.lib" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
--- a/KDL/install/share/orocos_kdl/cmake/OrocosKDLTargets.cmake
+++ b/KDL/install/share/orocos_kdl/cmake/OrocosKDLTargets.cmake
@@ -0,0 +1,102 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.8)
+   message(FATAL_ERROR "CMake >= 2.8.3 required")
+endif()
+if(CMAKE_VERSION VERSION_LESS "2.8.3")
+   message(FATAL_ERROR "CMake >= 2.8.3 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.8.3...3.29)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_cmake_targets_defined "")
+set(_cmake_targets_not_defined "")
+set(_cmake_expected_targets "")
+foreach(_cmake_expected_target IN ITEMS orocos-kdl)
+  list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
+  if(TARGET "${_cmake_expected_target}")
+    list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
+  else()
+    list(APPEND _cmake_targets_not_defined "${_cmake_expected_target}")
+  endif()
+endforeach()
+unset(_cmake_expected_target)
+if(_cmake_targets_defined STREQUAL _cmake_expected_targets)
+  unset(_cmake_targets_defined)
+  unset(_cmake_targets_not_defined)
+  unset(_cmake_expected_targets)
+  unset(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT _cmake_targets_defined STREQUAL "")
+  string(REPLACE ";" ", " _cmake_targets_defined_text "${_cmake_targets_defined}")
+  string(REPLACE ";" ", " _cmake_targets_not_defined_text "${_cmake_targets_not_defined}")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_cmake_targets_defined_text}\nTargets not yet defined: ${_cmake_targets_not_defined_text}\n")
+endif()
+unset(_cmake_targets_defined)
+unset(_cmake_targets_not_defined)
+unset(_cmake_expected_targets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target orocos-kdl
+add_library(orocos-kdl STATIC IMPORTED)
+
+# Load information for each installed configuration.
+file(GLOB _cmake_config_files "${CMAKE_CURRENT_LIST_DIR}/OrocosKDLTargets-*.cmake")
+foreach(_cmake_config_file IN LISTS _cmake_config_files)
+  include("${_cmake_config_file}")
+endforeach()
+unset(_cmake_config_file)
+unset(_cmake_config_files)
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(_cmake_target IN LISTS _cmake_import_check_targets)
+  if(CMAKE_VERSION VERSION_LESS "3.28"
+      OR NOT DEFINED _cmake_import_check_xcframework_for_${_cmake_target}
+      OR NOT IS_DIRECTORY "${_cmake_import_check_xcframework_for_${_cmake_target}}")
+    foreach(_cmake_file IN LISTS "_cmake_import_check_files_for_${_cmake_target}")
+      if(NOT EXISTS "${_cmake_file}")
+        message(FATAL_ERROR "The imported target \"${_cmake_target}\" references the file
+   \"${_cmake_file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+      endif()
+    endforeach()
+  endif()
+  unset(_cmake_file)
+  unset("_cmake_import_check_files_for_${_cmake_target}")
+endforeach()
+unset(_cmake_target)
+unset(_cmake_import_check_targets)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)
--- a/KDL/install/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake
+++ b/KDL/install/share/orocos_kdl/cmake/orocos_kdl-config-version.cmake
@@ -0,0 +1,11 @@
+set(PACKAGE_VERSION "1.5.1")
+ 
+# Check whether the requested PACKAGE_FIND_VERSION is compatible
+if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE FALSE)
+else()
+  set(PACKAGE_VERSION_COMPATIBLE TRUE)
+  if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
+    set(PACKAGE_VERSION_EXACT TRUE)
+  endif()
+endif()
--- a/KDL/install/share/orocos_kdl/cmake/orocos_kdl-config.cmake
+++ b/KDL/install/share/orocos_kdl/cmake/orocos_kdl-config.cmake
@@ -0,0 +1,33 @@
+# - Config file for the orocos-kdl package
+# It defines the following variables
+#  orocos_kdl_INCLUDE_DIRS - include directories for Orocos KDL
+#  orocos_kdl_LIBRARIES    - libraries to link against for Orocos KDL
+#  orocos_kdl_PKGCONFIG_DIR - directory containing the .pc pkgconfig files
+
+# Compute paths
+get_filename_component(orocos_kdl_PREFIX "${CMAKE_CURRENT_LIST_DIR}/../../.." ABSOLUTE)
+
+# Find dependencies
+find_package(Eigen3 QUIET)
+if(NOT EIGEN3_FOUND)
+  include(${CMAKE_CURRENT_LIST_DIR}/FindEigen3.cmake)
+endif()
+
+set(KDL_USE_NEW_TREE_INTERFACE OFF)
+if(KDL_USE_NEW_TREE_INTERFACE)
+  find_package(Boost REQUIRED)
+endif()
+
+if(NOT TARGET orocos-kdl)
+  include("${CMAKE_CURRENT_LIST_DIR}/OrocosKDLTargets.cmake")
+endif()
+
+set(orocos_kdl_INCLUDE_DIRS
+  ${orocos_kdl_PREFIX}/include
+  ${Boost_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
+)
+set(orocos_kdl_LIBRARIES orocos-kdl)
+
+# where the .pc pkgconfig files are installed
+set(orocos_kdl_PKGCONFIG_DIR "${orocos_kdl_PREFIX}/lib/pkgconfig")