Hi,

I think that I have found some problem. Compiling and installing kdl
in /usr/local. I have:
palomo@quasar:/usr/src/orocos/orocos-ocl-0.4.1/build$ ls /usr/local/include/*
bindings frames.inl kinfam_io.hpp
trajectory_composite.hpp
chainfksolver.hpp frames_io.hpp motion.hpp
trajectory.hpp
chainfksolverpos_recursive.hpp framevel.hpp path_circle.hpp
trajectory_segment.hpp
chainfksolvervel_recursive.hpp framevel.inl path_composite.hpp
trajectory_stationary.hpp
chain.hpp framevel_io.hpp path_cyclic_closed.hpp
utilities
chainiksolver.hpp inertia.hpp path.hpp
velocityprofile_dirac.hpp
chainiksolverpos_nr.hpp jacobian.hpp path_line.hpp
velocityprofile.hpp
chainiksolvervel_pinv.hpp jntarrayacc.hpp path_point.hpp
velocityprofile_rect.hpp
chainjnttojacsolver.hpp jntarray.hpp path_roundedcomposite.hpp
velocityprofile_traphalf.hpp
frameacc.hpp jntarrayvel.hpp rotational_interpolation.hpp
velocityprofile_trap.hpp
frameacc.inl joint.hpp
rotational_interpolation_sa.hpp
frameacc_io.hpp kdl.hpp segment.hpp
frames.hpp kinfam.hpp stiffness.hpp

and in /usr/local/lib/

/usr/local/lib/liborocos-kdl.so
/usr/local/lib/liborocos-kdltk.so

/usr/local/lib/pkgconfig:
orocos-kdl.pc orocos-kdltk.pc

the orocos-ocl CMakke script doesn't detect very well kdl:

- Detecting KDL
Looking for KDL in: /usr/local
-- Looking for orocos-kdl >= 0.2 -- found
Includes in: /usr/local/include
Libraries in: /usr/local/lib
Libraries: orocos-kdl
Defines:
Looking for KDL Toolkit in: /usr/local
-- Looking for kdltk >= 0.2 -- not found

when I try to compile ocl with a lot of components I got a compile error
because a bad include in:

orocos-ocl-0.4.1/motion_control/naxes/nAxesGeneratorPos.hpp
orocos-ocl-0.4.1/motion_control/naxes/nAxesGeneratorVel.hpp

changing in both files:

#include to
#include

and the worst thing is that ocl cannot link because it's searching -lkdl and
not -lorocos-kdl

And finally, could you tell me why when I make a "make" the Makefile install
the files in the destdir?

Regards,

Leo

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