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Eigen 5.0.0 support #236

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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -152,7 +152,7 @@ target_link_libraries(franka PRIVATE
TinyXML2::TinyXML2
Poco::Foundation
Poco::Net
Eigen3::Eigen3
Eigen3::Eigen
Threads::Threads
pinocchio::pinocchio
)
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17 changes: 4 additions & 13 deletions cmake/FindEigen3.cmake
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@@ -1,16 +1,7 @@
find_package(Eigen3 CONFIG)
mark_as_advanced(FORCE Eigen3_DIR)
find_package(Eigen3 REQUIRED CONFIG)

include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Eigen3
FOUND_VAR Eigen3_FOUND
REQUIRED_VARS EIGEN3_INCLUDE_DIRS
)
mark_as_advanced(FORCE Eigen3_DIR)

if(NOT TARGET Eigen3::Eigen3)
add_library(Eigen3::Eigen3 INTERFACE IMPORTED)
set_target_properties(Eigen3::Eigen3 PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES ${EIGEN3_INCLUDE_DIRS}
INTERFACE_COMPILE_DEFINITIONS "${EIGEN3_DEFINITIONS}"
)
if(NOT TARGET Eigen3::Eigen)
message(FATAL_ERROR "Eigen3 was found, but target Eigen3::Eigen is not available")
endif()