change on function and added package deb stuff

CMakeLists.txt

@@ -65,4 +65,23 @@ ELSE(UNIX)
   )
 ENDIF(UNIX)
 
+IF (UNIX)
+  SET(CPACK_PACKAGE_FILE_NAME "iri-${PROJECT_NAME}-dev-${CPACK_PACKAGE_VERSION}${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
+  SET(CPACK_PACKAGE_NAME "iri-${PROJECT_NAME}-dev")
+  SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Part of IRI-laboratory libraries. More information at http://wikiri.upc.es/index.php/Robotics_Lab")
+  SET(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
+  SET(CPACK_GENERATOR "DEB")
+  SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "galenya - labrobotica@iri.upc.edu")
+  SET(CPACK_SET_DESTDIR "ON")  # Necessary because of the absolute install paths
+  SET(BOOST_MIN_VERSION 1.48.0.2)
+  SET(KDL_MIN_VERSION 0.99)
+  SET(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-all-dev (>= ${BOOST_MIN_VERSION}), orocos-kdl (>= ${KDL_MIN_VERSION}), libeigen3-dev")
+
+  INCLUDE(CPack)
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "packaging only implemented in unix"
+    TARGET  uninstall
+  )
+ENDIF(UNIX)
 

Findquadarm_task_priority_ctrl.cmake

@@ -3,7 +3,7 @@ FIND_PATH(quadarm_task_priority_ctrl_INCLUDE_DIR quadarm_task_priority_ctrl.h /u
 
 FIND_LIBRARY(quadarm_task_priority_ctrl_LIBRARY
     NAMES quadarm_task_priority_ctrl
-    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+    PATHS /usr/lib /usr/lib/iridrivers /usr/local/lib /usr/local/lib/iridrivers) 
 
 IF (quadarm_task_priority_ctrl_INCLUDE_DIR AND quadarm_task_priority_ctrl_LIBRARY)
    SET(quadarm_task_priority_ctrl_FOUND TRUE)

src/quadarm_task_priority_ctrl.cpp

@@ -45,7 +45,7 @@ void CQuadarm_Task_Priority_Ctrl::quadarm_task_priority_ctrl(const MatrixXd& qua
   this->quad_.pos = quad.pos;
 
   uam_kinematics();
-  uam_control();
+  uam_hierarchical_ctrl();
 
   // Arm positions increment
   //this->arm_.jnt_pos = this->arm_.jnt_pos+(this->uam_.vel.block(6,0,this->arm_.nj,1) * this->ctrl_params_.dt);
@@ -202,8 +202,8 @@ MatrixXd CQuadarm_Task_Priority_Ctrl::quadrotor_jacobian()
 }
 
 // Control
-void CQuadarm_Task_Priority_Ctrl::uam_control(){
- 
+void CQuadarm_Task_Priority_Ctrl::uam_hierarchical_ctrl()
+{
   // TASK 0: Security task (Inflation radius) _____________________
 
   // task Jacobian and sigma
@@ -332,7 +332,6 @@ void CQuadarm_Task_Priority_Ctrl::uam_control(){
   this->jacobians_.vs = JVS;
   this->jacobians_.cog = JG;
   this->jacobians_.jl = JL;
-
 }
 void CQuadarm_Task_Priority_Ctrl::task_infrad(MatrixXd& JIR,MatrixXd& JIR_pseudo,MatrixXd& sigmaIR)
 {

src/quadarm_task_priority_ctrl.h

@@ -197,7 +197,7 @@ class CQuadarm_Task_Priority_Ctrl
     * Compute the motions of the quadrotor and arm joints
     *
     */ 
-    void uam_control();
+    void uam_hierarchical_ctrl();
 
     /**
     * \brief Task: Visual Servoing