Some fixes in the CMakeLists for bare compilation

CMakeLists.txt

@@ -2,6 +2,9 @@ cmake_minimum_required(VERSION 3.5)
 
 project(xbot2_interface LANGUAGES CXX VERSION 1.0.0)
 
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++20" COMPILER_SUPPORTS_CXX20)
+
 option(XBOT2_IFC_BUILD_PINOCCHIO "Build Pinocchio implementation" ON)
 option(XBOT2_IFC_BUILD_RBDL "Build RBDL implementation" OFF)
 option(XBOT2_IFC_BUILD_ROS "Build ROS implementation" ON)
@@ -19,6 +22,10 @@ find_package(Eigen3 REQUIRED)
 
 include(GNUInstallDirs)
 
+include_directories(include/
+    external/fmt-10.2.1/include
+    ${srdfdom_INCLUDE_DIRS})
+
 add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
 
 # internal fmt

cmake/FindRBDL.cmake

@@ -0,0 +1,126 @@
+# Searches for RBDL includes and library files, including Addons.
+#
+# Sets the variables
+#   RBDL_FOUND
+#   RBDL_INCLUDE_DIR
+#   RBDL_LIBRARY
+#
+# You can use the following components:
+#   LuaModel
+#   URDFReader
+# and then link to them e.g. using RBDL_LuaModel_LIBRARY.
+
+SET (RBDL_FOUND FALSE)
+SET (RBDL_LuaModel_FOUND FALSE)
+SET (RBDL_URDFReader_FOUND FALSE)
+
+FIND_PATH (RBDL_INCLUDE_DIR rbdl/rbdl.h
+	HINTS
+	$ENV{HOME}/local/include
+	$ENV{RBDL_PATH}/src
+	$ENV{RBDL_PATH}/include
+	$ENV{RBDL_INCLUDE_PATH}
+	/usr/local/include
+	/usr/include
+	)
+
+FIND_LIBRARY (RBDL_LIBRARY NAMES rbdl
+	PATHS
+	$ENV{HOME}/local/lib
+	$ENV{HOME}/local/lib/x86_64-linux-gnu
+	$ENV{RBDL_PATH}/lib
+	$ENV{RBDL_LIBRARY_PATH}
+	/usr/local/lib
+	/usr/local/lib/x86_64-linux-gnu
+	/usr/lib
+	/usr/lib/x86_64-linux-gnu
+	)
+
+FIND_PATH (RBDL_LuaModel_INCLUDE_DIR rbdl/addons/luamodel/luamodel.h
+	HINTS
+	$ENV{HOME}/local/include
+	$ENV{RBDL_PATH}/src
+	$ENV{RBDL_PATH}/include
+	$ENV{RBDL_INCLUDE_PATH}
+	/usr/local/include
+	/usr/include
+	)
+
+FIND_LIBRARY (RBDL_LuaModel_LIBRARY NAMES rbdl_luamodel
+	PATHS
+	$ENV{HOME}/local/lib
+	$ENV{HOME}/local/lib/x86_64-linux-gnu
+	$ENV{RBDL_PATH}
+	$ENV{RBDL_LIBRARY_PATH}
+	/usr/local/lib
+	/usr/local/lib/x86_64-linux-gnu
+	/usr/lib
+	/usr/lib/x86_64-linux-gnu
+	)
+
+FIND_PATH (RBDL_URDFReader_INCLUDE_DIR rbdl/addons/urdfreader/urdfreader.h
+	HINTS
+	$ENV{HOME}/local/include
+	$ENV{RBDL_PATH}/src
+	$ENV{RBDL_PATH}/include
+	$ENV{RBDL_INCLUDE_PATH}
+	/usr/local/include
+	/usr/include
+	)
+
+FIND_LIBRARY (RBDL_URDFReader_LIBRARY NAMES rbdl_urdfreader
+	PATHS
+	$ENV{HOME}/local/lib
+	$ENV{HOME}/local/lib/x86_64-linux-gnu
+	$ENV{RBDL_PATH}
+	$ENV{RBDL_LIBRARY_PATH}
+	/usr/local/lib
+	/usr/local/lib/x86_64-linux-gnu
+	/usr/lib
+	/usr/lib/x86_64-linux-gnu
+	)
+
+IF (NOT RBDL_LIBRARY)
+	MESSAGE (ERROR "Could not find RBDL")
+ENDIF (NOT RBDL_LIBRARY)
+
+IF (RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
+	SET (RBDL_FOUND TRUE)
+ENDIF (RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
+
+IF (RBDL_LuaModel_INCLUDE_DIR AND RBDL_LuaModel_LIBRARY)
+	SET (RBDL_LuaModel_FOUND TRUE)
+ENDIF (RBDL_LuaModel_INCLUDE_DIR AND RBDL_LuaModel_LIBRARY)
+
+IF (RBDL_URDFReader_INCLUDE_DIR AND RBDL_URDFReader_LIBRARY)
+	SET (RBDL_URDFReader_FOUND TRUE)
+ENDIF (RBDL_URDFReader_INCLUDE_DIR AND RBDL_URDFReader_LIBRARY)
+
+IF (RBDL_FOUND)
+   IF (NOT RBDL_FIND_QUIETLY)
+      MESSAGE(STATUS "Found RBDL: ${RBDL_LIBRARY}")
+   ENDIF (NOT RBDL_FIND_QUIETLY)
+
+	 foreach ( COMPONENT ${RBDL_FIND_COMPONENTS} )
+		 IF (RBDL_${COMPONENT}_FOUND)
+			 IF (NOT RBDL_FIND_QUIETLY)
+				 MESSAGE(STATUS "Found RBDL ${COMPONENT}: ${RBDL_${COMPONENT}_LIBRARY}")
+			 ENDIF (NOT RBDL_FIND_QUIETLY)
+		 ELSE (RBDL_${COMPONENT}_FOUND)
+			 MESSAGE(SEND_ERROR "Could not find RBDL ${COMPONENT}")
+		 ENDIF (RBDL_${COMPONENT}_FOUND)
+	 endforeach ( COMPONENT )
+ELSE (RBDL_FOUND)
+   IF (RBDL_FIND_REQUIRED)
+		 MESSAGE(SEND_ERROR "Could not find RBDL")
+   ENDIF (RBDL_FIND_REQUIRED)
+ENDIF (RBDL_FOUND)
+
+MARK_AS_ADVANCED (
+	RBDL_INCLUDE_DIR
+	RBDL_LIBRARY
+	RBDL_LuaModel_INCLUDE_DIR
+	RBDL_LuaModel_LIBRARY
+	RBDL_URDFReader_INCLUDE_DIR
+	RBDL_URDFReader_LIBRARY
+	)

test/CMakeLists.txt

@@ -57,5 +57,7 @@ target_link_libraries(test_memory PRIVATE xbot2_interface::collision)
 add_test_executable(test_collision)
 target_link_libraries(test_collision PRIVATE xbot2_interface::collision)
 
-add_executable(eigen_ref_calls_free src/eigen_ref_calls_free.cpp)
-target_link_libraries(eigen_ref_calls_free Eigen3::Eigen dl)
+if(COMPILER_SUPPORTS_CXX20)
+    add_executable(eigen_ref_calls_free src/eigen_ref_calls_free.cpp)
+    target_link_libraries(eigen_ref_calls_free Eigen3::Eigen dl)
+endif()