gait

c++ biped gait generation library.

Use as an external library

Basic lines to add/modify in CMake:

find_package(GAIT REQUIRED)

include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${GAIT_INCLUDE_DIRS})

link_directories(${GAIT_LINK_DIRS})
target_link_libraries(${KEYWORD} ${GAIT_LIBRARIES})

For CMake find_package(GAIT REQUIRED), you may also be interested in adding the following to your .bashrc or .profile:

export GAIT_DIR=/home/teo/repos/gait/build

Change the path according to your folder structure.

Use as part of a project

In kinematics-dynamics we added these lines to kinematics-dynamics/libraries/CMakeFiles.txt:

set(GAIT_PART_OF_PROJECT TRUE)
add_subdirectory(gait)

And then we added a hardcoded a kinematics-dynamics/cmake/FindGAIT.cmake for it to be found at compilation:

IF (NOT GAIT_FOUND)

  SET(GAIT_LIBRARIES "Gait")
  SET(GAIT_INCLUDE_DIRS "${CMAKE_SOURCE_DIR}/libraries/gait/src/")
  SET(GAIT_LINK_DIRS "${CMAKE_SOURCE_DIR}/build/lib")
  SET(GAIT_DEFINES "")
  SET(GAIT_MODULE_PATH "./gait/cmake")

  SET (GAIT_FOUND TRUE)
ENDIF (NOT GAIT_FOUND)

Another example of use can be found at gaitcontrol, especially at gaitcontrol/cmake folder.

Status