Simple template for libraries in contrib

These instructions only apply to YARP > 2.3.23 and iCub > 1.1.13 software versions

See Simple template for libraries in contrib old for older instructions

CMake code for a library in contrib is quite similar to that required for modules.

cmake_minimum_required(VERSION 2.8.7)

project(mylibrary)

#find packages, examples YARP and/or ICUB
find_package(YARP REQUIRED)
find_package(ICUB REQUIRED)
find_package(ICUBcontrib REQUIRED)
 
#optionally: use cmake find scripts provided by YARP and iCub
list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH} ${ICUB_MODULE_PATH} ${ICUBCONTRIB_MODULE_PATH})

include(ICUBcontribHelpers)
set_contrib_default_prefix() #set CMAKE_INSTALL_PREFIX to the ICUBcontrib one; print warning if user modifies it

## inherit options from the iCub build (inlcudes rpath settings and 
## disables some warnings in msvc
include(iCubOptions)

#find packages
find_package(GSL)
find_package(OpenCV)

include_directories(${YARP_INCLUDE_DIRS})
include_directories(${ICUB_INCLUDE_DIRS})

include_directories(${GSL_INCLUDE_DIRS})
include_directories(${OpenCV_INCLUDE_DIRS})

set(folder_source src/file1.cpp src/file2.cpp)
set(folder_header include/iCub/file1.h include/iCub/file2.h)

# add local directory and other (optional) packages to to search path for 
# header files 
include_directories(${PROJECT_SOURCE_DIR}/include)

source_group("Source Files" FILES ${folder_source})
source_group("Header Files" FILES ${folder_header})

add_library(${PROJECT_NAME} ${folder_source} ${folder_header})

#link other packages, this is required to let cmake know dependencies
#your code will compile without this, but you can have problems linking agains
#your lib in modules using it
target_link_libraries(${PROJECT_NAME} ${YARP_LIBRARIES} ${OpenCV_LIBRARIES} ${GSL_LIBRARIES})

if you want to link all the libraries in iCub, you can rely on the ICUB_LIBRARIES variable:

#link against all libraries in the iCub build
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${ICUB_LINK_FLAGS}")	
target_link_libraries(${PROJECT_NAME} ${ICUB_LIBRARIES})

but you might prefer to just link the one you actually need:

 #link against single libraries in the iCub package
 #Important: notice that we use the name of the project
 target_link_libraries(${PROJECT_NAME} ctrlLib)