View source for Simple template for modules in contrib old

Modules in contrib are external to the iCub build. As such they cannot rely on pre-configuration steps that are automatically done in the build.

These are:

* calls to FIND_PACKAGE()
* access to Find scripts provided in YARP and iCub conf directories

== Basic template ==

  cmake_minimum_required(VERSION 2.6)

  find_package(YARP)
  
  include_directories(${YARP_INCLUDE_DIRS})
  add_executable(example1 main.cpp)
  target_link_libraries(example1 ${YARP_LIBRARIES})

== Advanced template ==


  cmake_minimum_required(VERSION 2.6)
  
  set(MODULENAME mymodule)

  find_package(YARP)
  find_package(ICUB)
  
  #optionally: use cmake find scripts provided by YARP and iCub
  set(CMAKE_MODULE_PATH ${YARP_MODULE_PATH} ${CMAKE_MODULE_PATH})
  set(CMAKE_MODULE_PATH ${ICUB_MODULE_PATH} ${CMAKE_MODULE_PATH))

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

  ## load some macros useful for applications (see below)
  include(iCubHelpers)
  
  #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})
  
  add_executable(${MODULENAME} main.cpp)
  target_link_libraries(${MODULENAME}  ${YARP_LIBRARIES})
  
  #link other packages
  target_link_libraries(${MODULENAME} ${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} ${ICUB_LINK_FLAGS}")	
  target_link_libraries(${MODULENAME} ${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(${MODULENAME} ctrlLib)

== Applications ==

The line ''include(iCubHelpers)'' loads a set of macros that are useful for defining applications. Instructions for doing this are reported here: http://eris.liralab.it/wiki/Applications.