casa-mp-base

PortSystem      1.0

PortGroup       cmake 1.0

​

name            orocos-kdl

version         1.0.2

revision        4

set branch      [join [lrange [split ${version} .] 0 1] .]

categories      devel

maintainers     nomaintainer

description     Orocos Kinematics and Dynamics

license         LGPL-2.1

​

long_description \

    The Kinematics and Dynamics Library (KDL) develops an application \

    independent framework for modelling and computation of kinematic chains, \

    such as robots, biomechanical human models, computer-animated figures, \

    machine tools, etc. It provides class libraries for geometrical objects \

    (point, frame, line, ...), kinematic chains of various families (serial, \

    humanoid, parallel, mobile, ...), and their motion specification and \

    interpolation.

​

homepage        http://www.orocos.org/kdl

platforms       darwin

master_sites    http://people.mech.kuleuven.be/~rsmits/kdl/

distname        ${name}-${version}-src

use_bzip2       yes

​

checksums       md5     4f786fcf415d2db64681ad487c25f419 \

                sha1    dd06fe5bff8dfa1940fc80cd2b2f84ce25bea4e7 \

                rmd160  c98d51f8f2039d54acd4ef5fd95981b6f228c95f

​

worksrcdir      kdl-${version}

​

post-patch {

    reinplace {s/SIP_VERSION GREATER/SIP_VERSION STRGREATER/} \

        ${worksrcpath}/config/FindSIPandPython.cmake

}

​

depends_build-append \

    port:pkgconfig

depends_lib \

    port:eigen

​

configure.args-append \

    -DCMAKE_CXX_FLAGS=-I${prefix}/include/eigen2 \

    -DCMAKE_INSTALL_NAME_DIR=${prefix}/lib \

    -DEIGEN2_INCLUDE_DIR=${prefix}/include/eigen2 \

    -DOROCOS_INSTALL=${prefix} \

    -DOROCOS_PLUGIN=0 \

    -DOROCOS_TARGET=macosx

​

variant plugin description "Enable Orocos RTT plugin" {

    depends_lib-append  port:orocos-rtt \

                        port:boost

    configure.args-delete   -DOROCOS_PLUGIN=0

    configure.args-append   -DOROCOS_PLUGIN=1

}

​

variant python26 description "Enable Python 2.6 bindings" {

    post-patch {

        reinplace {s:\*\.sip:PyKDL/&:} \

            ${worksrcpath}/src/bindings/python/CMakeLists.txt

        reinplace {/#set/s:.*:INSTALL(FILES \${SIP_FILES} DESTINATION share/sip/PyKDL):} \