Merge branch 'hotfix/172'

cmake/Modules/FindGUROBI.cmake

@@ -0,0 +1,64 @@
+#### Adapted from http://www.openflipper.org/svnrepo/CoMISo/trunk/CoMISo/cmake/FindGUROBI.cmake
+
+
+# - Try to find GUROBI
+# Once done this will define
+#  GUROBI_FOUND - System has Gurobi
+#  GUROBI_INCLUDE_DIRS - The Gurobi include directories
+#  GUROBI_LIBRARIES - The libraries needed to use Gurobi
+
+if (GUROBI_INCLUDE_DIR)
+  # in cache already
+  set(GUROBI_FOUND TRUE)
+  set(GUROBI_INCLUDE_DIRS ${GUROBI_INCLUDE_DIR} )
+  set(GUROBI_LIBRARIES ${GUROBI_CXX_LIBRARY} ${GUROBI_LIBRARY} )
+else (GUROBI_INCLUDE_DIR)
+
+find_path(GUROBI_INCLUDE_DIR
+          NAMES gurobi_c++.h
+          PATHS "$ENV{GUROBI_HOME}/include"
+                  "/Library/gurobi502/mac64/include"
+                 "C:\\libs\\gurobi502\\include"
+          )
+find_library( GUROBI_LIBRARY
+              NAMES gurobi
+                    gurobi702
+                    gurobi701
+    		        gurobi70
+    				gurobi45
+    			    gurobi46
+    				gurobi50
+    				gurobi51
+    				gurobi52
+    				gurobi55
+    				gurobi56
+    				gurobi60
+    				gurobi65
+    	      PATHS "$ENV{GUROBI_HOME}/lib"
+        			"/Library/gurobi701/mac64/lib"
+        			"C:\\libs\\gurobi70\\lib"
+              )
+
+find_library( GUROBI_CXX_LIBRARY
+              NAMES gurobi_c++
+              PATHS "$ENV{GUROBI_HOME}/lib"
+                    "/Library/gurobi70/mac64/lib"
+                    "C:\\libs\\gurobi70\\lib"
+              )
+
+set(GUROBI_INCLUDE_DIRS "${GUROBI_INCLUDE_DIR}" )
+# It is very important
+set(GUROBI_LIBRARIES ${GUROBI_CXX_LIBRARY} ${GUROBI_LIBRARY})
+
+# use c++ headers as default
+# set(GUROBI_COMPILER_FLAGS "-DIL_STD" CACHE STRING "Gurobi Compiler Flags")
+
+include(FindPackageHandleStandardArgs)
+# handle the QUIETLY and REQUIRED arguments and set LIBCPLEX_FOUND to TRUE
+# if all listed variables are TRUE
+find_package_handle_standard_args(GUROBI  DEFAULT_MSG
+                                  GUROBI_LIBRARY GUROBI_CXX_LIBRARY GUROBI_INCLUDE_DIR)
+
+mark_as_advanced(GUROBI_INCLUDE_DIR GUROBI_LIBRARY GUROBI_CXX_LIBRARY)
+
+endif(GUROBI_INCLUDE_DIR)

ocra-icub-clients/CMakeLists.txt

@@ -23,6 +23,15 @@ add_subdirectory(example-client)
 add_subdirectory(stepping-demo)
 add_subdirectory(task-operations-demo)
 add_subdirectory(sitting-demo)
-add_subdirectory(walking-client)
 add_subdirectory(standing-demo)
+
+find_package(GUROBI)
+if (GUROBI_FOUND)
+    if(NOT WIN32)
+        string(ASCII 27 Esc)
+    endif()
+    message("${Esc}[1;35m  -- Gurobi was found in your system. adding walking-client! ${Esc}[m")
+    add_subdirectory(walking-client)
+endif()
+
 # add_subdirectory(your-client)