FILE( GLOB_RECURSE KDL_SRCS [^.]*.cpp [^.]*.cxx)
FILE( GLOB KDL_HPPS [^.]*.hpp [^.]*.inl)

FILE( GLOB UTIL_HPPS utilities/[^.]*.h utilities/[^.]*.hpp)

INCLUDE(CheckCXXSourceCompiles)
SET(CMAKE_REQUIRED_FLAGS)
CHECK_CXX_SOURCE_COMPILES("
    #include <string>
    #include <map>
    #include <vector.hpp>

    class TreeElement;
    typedef std::map<std::string, TreeElement> SegmentMap;

    class TreeElement
    {
        TreeElement(const std::string& name): number(0) {}

    public:
        int number;
        SegmentMap::const_iterator parent;
        std::vector<SegmentMap::const_iterator> children;

        static TreeElement Root(std::string& name)
        {
            return TreeElement(name);
        }
    };

    int main()
    {
        return 0;
    }
    "
    HAVE_STL_CONTAINER_INCOMPLETE_TYPES)

if(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
    SET(KDL_USE_NEW_TREE_INTERFACE_DEFAULT Off)
ELSE(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
    SET(KDL_USE_NEW_TREE_INTERFACE_DEFAULT On)
ENDIF(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)

SET(KDL_USE_NEW_TREE_INTERFACE ${KDL_USE_NEW_TREE_INTERFACE_DEFAULT} CACHE BOOL "Use the new KDL Tree interface")

#Sanity check, inform the user
IF(NOT HAVE_STL_CONTAINER_INCOMPLETE_TYPES AND NOT KDL_USE_NEW_TREE_INTERFACE)
    MESSAGE(WARNING "You have chosen to use the current Tree Interface, but your platform doesn't support containers of "
        "incomplete types, this configuration is likely invalid")
ENDIF()

#In Windows (Visual Studio) it is necessary to specify the postfix
#of the debug library name and no symbols are exported by kdl, 
#so it is necessary to compile it as a static library
IF(MSVC)
    SET(CMAKE_DEBUG_POSTFIX "d")
    SET(LIB_TYPE STATIC)
ELSE(MSVC)
    SET(LIB_TYPE SHARED)
ENDIF(MSVC)

CONFIGURE_FILE(config.h.in config.h @ONLY)

#### Settings for rpath
IF(${CMAKE_MINIMUM_REQUIRED_VERSION} VERSION_GREATER "2.8.12")
    MESSAGE(AUTHOR_WARNING "CMAKE_MINIMUM_REQUIRED_VERSION is now ${CMAKE_MINIMUM_REQUIRED_VERSION}. This check can be removed.")
ENDIF()
IF(NOT (CMAKE_VERSION VERSION_LESS 2.8.12))
    IF(NOT MSVC)
        #add the option to disable RPATH
        OPTION(OROCOSKDL_ENABLE_RPATH "Enable RPATH during installation" FALSE)
        MARK_AS_ADVANCED(OROCOSKDL_ENABLE_RPATH)
    ENDIF(NOT MSVC)

    IF(OROCOSKDL_ENABLE_RPATH)
        #Configure RPATH
        SET(CMAKE_MACOSX_RPATH TRUE) #enable RPATH on OSX. This also suppress warnings on CMake >= 3.0
        # when building, don't use the install RPATH already
        # (but later on when installing)
        SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
        #build directory by default is built with RPATH
        SET(CMAKE_SKIP_BUILD_RPATH  FALSE)

        #This is relative RPATH for libraries built in the same project
        #I assume that the directory is
        # - install_dir/something for binaries
        # - install_dir/lib for libraries
        LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
        IF("${isSystemDir}" STREQUAL "-1")
            FILE(RELATIVE_PATH _rel_path "${CMAKE_INSTALL_PREFIX}/bin" "${CMAKE_INSTALL_PREFIX}/lib")
            IF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
                SET(CMAKE_INSTALL_RPATH "@loader_path/${_rel_path}")
            ELSE()
                SET(CMAKE_INSTALL_RPATH "\$ORIGIN/${_rel_path}")
            ENDIF()
        ENDIF("${isSystemDir}" STREQUAL "-1")
        # add the automatically determined parts of the RPATH
        # which point to directories outside the build tree to the install RPATH
        SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) #very important!
    ENDIF()
ENDIF()
#####end RPATH

ADD_LIBRARY(orocos-kdl ${LIB_TYPE} ${KDL_SRCS} config.h)

SET_TARGET_PROPERTIES( orocos-kdl PROPERTIES
  SOVERSION "${KDL_VERSION_MAJOR}.${KDL_VERSION_MINOR}"
  VERSION "${KDL_VERSION}"
  COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS}"
  PUBLIC_HEADER "${KDL_HPPS};${CMAKE_CURRENT_BINARY_DIR}/config.h"
  )

#### Settings for rpath disabled (back-compatibility)
IF(${CMAKE_MINIMUM_REQUIRED_VERSION} VERSION_GREATER "2.8.12")
    MESSAGE(AUTHOR_WARNING "CMAKE_MINIMUM_REQUIRED_VERSION is now ${CMAKE_MINIMUM_REQUIRED_VERSION}. This check can be removed.")
ENDIF()
IF(CMAKE_VERSION VERSION_LESS 2.8.12)
    SET_TARGET_PROPERTIES( orocos-kdl PROPERTIES
      INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}")
ELSE()
    IF(NOT OROCOSKDL_ENABLE_RPATH)
        SET_TARGET_PROPERTIES( orocos-kdl PROPERTIES
          INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}")
    ENDIF()
ENDIF()
#####end RPATH

# Needed so that the generated config.h can be used
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR})
TARGET_LINK_LIBRARIES(orocos-kdl ${Boost_LIBRARIES})

INSTALL(TARGETS orocos-kdl
  EXPORT OrocosKDLTargets
  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  LIBRARY DESTINATION lib${LIB_SUFFIX}
  PUBLIC_HEADER DESTINATION include/kdl
)

INSTALL(FILES ${UTIL_HPPS} DESTINATION include/kdl/utilities)

# Orocos convention:
CONFIGURE_FILE( kdl.pc.in ${CMAKE_CURRENT_BINARY_DIR}/orocos-kdl.pc @ONLY)
CONFIGURE_FILE( kdl.pc.in ${CMAKE_CURRENT_BINARY_DIR}/orocos_kdl.pc @ONLY)

INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/orocos-kdl.pc DESTINATION lib${LIB_SUFFIX}/pkgconfig)
INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/orocos_kdl.pc DESTINATION lib${LIB_SUFFIX}/pkgconfig)