Release after RAL

demos/CMakeLists.txt

 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fext-numeric-literals")  # necessary for files using boost 
 
-FIND_PACKAGE(pinocchio REQUIRED)
-FIND_PACKAGE(multicontact-api REQUIRED)
+FIND_PACKAGE(pinocchio QUIET)
+FIND_PACKAGE(multicontact-api QUIET)
 
-# SYSTEM disables warnings from library headers
-include_directories(
-    SYSTEM ${PINOCCHIO_INCLUDE_DIRS}
-)
-
-add_library(mcapi_utils mcapi_utils.cpp)
-
-# add_executable(mcapi_povcdl_estimation mcapi_povcdl_estimation.cpp)
-# target_link_libraries(mcapi_povcdl_estimation
-#     mcapi_utils
-#     ${wolfcore_LIBRARIES}
-#     ${wolfimu_LIBRARIES}
-#     ${PLUGIN_NAME}
-#     ${multicontact-api_LIBRARIES}
-#     ${pinocchio_LIBRARIES}
-# )
-# target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
-
-
-# add_executable(mcapi_pov_estimation mcapi_pov_estimation.cpp)
-# target_link_libraries(mcapi_pov_estimation
-#     mcapi_utils
-#     ${wolfcore_LIBRARIES}
-#     ${wolfimu_LIBRARIES}
-#     ${PLUGIN_NAME}
-#     ${multicontact-api_LIBRARIES}
-#     ${pinocchio_LIBRARIES}
-# )
-# target_compile_definitions(mcapi_pov_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
-
-add_executable(solo_real_povcdl_estimation solo_real_povcdl_estimation.cpp)
-target_link_libraries(solo_real_povcdl_estimation 
-    mcapi_utils
-    ${wolfcore_LIBRARIES}
-    ${wolfimu_LIBRARIES}
-    ${PLUGIN_NAME}
-    ${pinocchio_LIBRARIES}    
-    /usr/local/lib/libcnpy.so
-    z
-)
-
-add_executable(solo_real_pov_estimation solo_real_pov_estimation.cpp)
-target_link_libraries(solo_real_pov_estimation 
-    mcapi_utils
-    ${wolfcore_LIBRARIES}
-    ${wolfimu_LIBRARIES}
-    ${PLUGIN_NAME}
-    ${pinocchio_LIBRARIES}    
-    /usr/local/lib/libcnpy.so
-    z
-)
-
-add_executable(solo_mocap_imu solo_mocap_imu.cpp)
-target_link_libraries(solo_mocap_imu 
-    ${wolfcore_LIBRARIES}
-    ${wolfimu_LIBRARIES}
-    ${PLUGIN_NAME}
-    ${pinocchio_LIBRARIES}    
-    /usr/local/lib/libcnpy.so
-    z
-)
+if (pinocchio_FOUND)
+	# SYSTEM disables warnings from library headers
+	include_directories(
+	    SYSTEM ${PINOCCHIO_INCLUDE_DIRS}
+	)
+	
+	add_library(mcapi_utils mcapi_utils.cpp)
+	
+	# add_executable(mcapi_povcdl_estimation mcapi_povcdl_estimation.cpp)
+	# target_link_libraries(mcapi_povcdl_estimation
+	#     mcapi_utils
+	#     ${wolfcore_LIBRARIES}
+	#     ${wolfimu_LIBRARIES}
+	#     ${PLUGIN_NAME}
+	#     ${multicontact-api_LIBRARIES}
+	#     ${pinocchio_LIBRARIES}
+	# )
+	# target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
+	
+	
+	# add_executable(mcapi_pov_estimation mcapi_pov_estimation.cpp)
+	# target_link_libraries(mcapi_pov_estimation
+	#     mcapi_utils
+	#     ${wolfcore_LIBRARIES}
+	#     ${wolfimu_LIBRARIES}
+	#     ${PLUGIN_NAME}
+	#     ${multicontact-api_LIBRARIES}
+	#     ${pinocchio_LIBRARIES}
+	# )
+	# target_compile_definitions(mcapi_pov_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
+	
+	add_executable(solo_real_povcdl_estimation solo_real_povcdl_estimation.cpp)
+	target_link_libraries(solo_real_povcdl_estimation 
+	    mcapi_utils
+	    ${wolfcore_LIBRARIES}
+	    ${wolfimu_LIBRARIES}
+	    ${PLUGIN_NAME}
+	    ${pinocchio_LIBRARIES}    
+	    /usr/local/lib/libcnpy.so
+	    z
+	)
+	
+	add_executable(solo_real_pov_estimation solo_real_pov_estimation.cpp)
+	target_link_libraries(solo_real_pov_estimation 
+	    mcapi_utils
+	    ${wolfcore_LIBRARIES}
+	    ${wolfimu_LIBRARIES}
+	    ${PLUGIN_NAME}
+	    ${pinocchio_LIBRARIES}    
+	    /usr/local/lib/libcnpy.so
+	    z
+	)
+	
+	add_executable(solo_mocap_imu solo_mocap_imu.cpp)
+	target_link_libraries(solo_mocap_imu 
+	    ${wolfcore_LIBRARIES}
+	    ${wolfimu_LIBRARIES}
+	    ${PLUGIN_NAME}
+	    ${pinocchio_LIBRARIES}    
+	    /usr/local/lib/libcnpy.so
+	    z
+	)
+endif()
 
 # add_executable(test_cnpy test_cnpy.cpp)
 # target_link_libraries(test_cnpy