Merge pull request #10 from pariterre/master

Compiling on Mac

CMakeLists.txt

@@ -65,31 +65,6 @@ OPTION (RBDL_BUILD_PYTHON_WRAPPER "Build experimental python wrapper" OFF)
 OPTION (RBDL_BUILD_ADDON_GEOMETRY "Build the geometry library" OFF)
 OPTION (RBDL_BUILD_ADDON_MUSCLE "Build the muscle library" OFF)
 
-# Make sure only one math library is selected priorizing the following order: Casadi, Eigen, Simple
-IF (RBDL_USE_CASADI_MATH)
-    IF(RBDL_USE_SIMPLE_MATH)
-        MESSAGE (WARNING "You can not use both Casadi and Simple math. Automatically choosing RBDL_USE_CASADI_MATH.")
-        SET (RBDL_USE_SIMPLE_MATH OFF)
-    ENDIF(RBDL_USE_SIMPLE_MATH)
-
-    IF (RBDL_USE_EIGEN3_MATH)
-        MESSAGE (WARNING "You can not use both Casadi and Eigen3 math. Automatically choosing RBDL_USE_CASADI_MATH.")
-        SET (RBDL_USE_EIGEN3_MATH OFF)
-    ENDIF(RBDL_USE_EIGEN3_MATH)
-ENDIF(RBDL_USE_CASADI_MATH)
-
-IF (RBDL_USE_EIGEN3_MATH)
-    IF(RBDL_USE_SIMPLE_MATH)
-        MESSAGE (WARNING "You can not use both Eigen and Simple math. Automatically choosing RBDL_USE_EIGEN3_MATH.")
-        SET (RBDL_USE_SIMPLE_MATH OFF)
-    ENDIF(RBDL_USE_SIMPLE_MATH)
-ENDIF (RBDL_USE_EIGEN3_MATH)
-
-IF (NOT RBDL_USE_CASADI_MATH AND NOT RBDL_USE_EIGEN3_MATH AND NOT RBDL_USE_SIMPLE_MATH)
-    MESSAGE (WARNING "You have to choose exactly one library. Automatically choosing RBDL_USE_EIGEN3_MATH.")
-    SET(RBDL_USE_EIGEN3_MATH ON)
-ENDIF (NOT RBDL_USE_CASADI_MATH AND NOT RBDL_USE_EIGEN3_MATH AND NOT RBDL_USE_SIMPLE_MATH)
-
 # Loading the appropriate packages
 IF (RBDL_USE_CASADI_MATH)
     FIND_PACKAGE (Casadi REQUIRED)
@@ -175,6 +150,11 @@ IF (RBDL_BUILD_STATIC)
 			rbdl_luamodel-static
 			)
 	ENDIF (RBDL_BUILD_ADDON_LUAMODEL)
+    IF (RBDL_USE_CASADI_MATH)
+        TARGET_LINK_LIBRARIES ( rbdl-static
+			    ${Casadi_LIBRARY}
+			    )
+    ENDIF (RBDL_USE_CASADI_MATH)
 
 	INSTALL (TARGETS rbdl-static
 	  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
@@ -191,6 +171,11 @@ ELSE (RBDL_BUILD_STATIC)
 		LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
 		ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
 		)
+    IF (RBDL_USE_CASADI_MATH)
+        TARGET_LINK_LIBRARIES ( rbdl
+            ${Casadi_LIBRARY}
+            )
+    ENDIF (RBDL_USE_CASADI_MATH)
 ENDIF (RBDL_BUILD_STATIC)
 
 IF (RBDL_STORE_VERSION)