Commits

Martin Felis committed f66345d

fixed some Eigen #defines

Comments (0)

Files changed (2)

 
 INCLUDE_DIRECTORIES ( 
 	src/
+	include/rbdl
 )
 
 SET_TARGET_PROPERTIES ( ${PROJECT_EXECUTABLES} PROPERTIES
 	)
 
 CONFIGURE_FILE (
-	"${CMAKE_SOURCE_DIR}/src/rbdlconfig.h.cmake" 
-	"${CMAKE_BINARY_DIR}/include/rbdl/rbdlconfig.h"
+	"${CMAKE_CURRENT_SOURCE_DIR}/src/rbdlconfig.h.cmake" 
+	"${CMAKE_CURRENT_BINARY_DIR}/include/rbdl/rbdlconfig.h"
 	)
 
 FILE ( GLOB headers 
 	"${CMAKE_CURRENT_SOURCE_DIR}/src/*.h"
-	"${CMAKE_BINARY_DIR}/include/rbdl/rbdlconfig.h"
+	"${CMAKE_CURRENT_BINARY_DIR}/include/rbdl/rbdlconfig.h"
 	)
 
 INSTALL ( FILES ${headers} DESTINATION include/rbdl )
 	LOG << "A = " << std::endl << H << std::endl;
 	LOG << "b = " << std::endl << C * -1. + Tau << std::endl;
 
-#ifdef USE_EIGEN_MATH
+#ifndef RBDL_USE_SIMPLE_MATH
 	QDDot = H.colPivHouseholderQr().solve (C * -1. + Tau);
 #else
 	bool solve_successful = LinSolveGaussElimPivot (H, C * -1. + Tau, QDDot);
 	}
 	
 	// Solve the system
-#ifdef USE_EIGEN_MATH
+#ifndef RBDL_USE_SIMPLE_MATH
 	x = A.colPivHouseholderQr().solve (b);
 #else
 	bool solve_successful = LinSolveGaussElimPivot (A, b, x);
 	}
 	
 	// Solve the system
-#ifdef USE_EIGEN_MATH
+#ifndef RBDL_USE_SIMPLE_MATH
 	x = A.colPivHouseholderQr().solve (b);
 #else
 	bool solve_successful = LinSolveGaussElimPivot (A, b, x);
 	}
 
 	LOG << "spatial_gravity = " << spatial_gravity << std::endl;
-#ifdef USE_EIGEN_MATH
+#ifndef RBDL_USE_SIMPLE_MATH
 	LOG << "X_B * spatial_gravity = " << X_B * spatial_gravity << std::endl;
 	model.a[0] = X_B * spatial_gravity;
 #endif