libs.autobuild

# Core Lib: Use minimal install, disable all additional solver and robot models
cmake_package 'control/wbc' do |pkg|
   #pkg.define 'CMAKE_CXX_STANDARD', '14'
end

# Solvers
cmake_package 'control/qpOASES'
cmake_package 'control/pinocchio' do |pkg|
  pkg.define 'BUILD_PYTHON_INTERFACE', 'OFF'
  pkg.define 'BUILD_UNIT_TESTS', 'OFF'
  pkg.depends_on 'control/urdfdom'
  pkg.depends_on 'control/urdfdom_headers'
end
cmake_package 'control/eiquadprog'
cmake_package 'control/proxqp' do |pkg|
  pkg.define 'BUILD_TESTING', 'OFF'
  pkg.define 'BUILD_PYTHON_INTERFACE', 'OFF'
  pkg.define 'BUILD_WITH_VECTORIZATION_SUPPORT', 'OFF'
end
cmake_package 'control/qpSWIFT' do |pkg|
  pkg.define 'QPDEMOS', 'OFF'
end

# Robot Models
cmake_package 'control/rbdl' do |pkg|
  pkg.define 'RBDL_BUILD_ADDON_URDFREADER', 'ON'
end

# Tools and gui's
cmake_package 'gui/wbc_gui' do |pkg|
  Autoproj.env_add_path 'RUBYLIB', File.join(pkg.srcdir, 'lib/wbc_status_gui')
  Autoproj.env_add_path 'RUBYLIB', File.join(pkg.srcdir, 'lib/wbc_ctrl_gui')
end