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Merge pull request #9 from jhu-saw/rc-2.1
2.1.0
2 parents bb103e8 + 86730ab commit 39a1daf

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‎CHANGELOG.md

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Change log
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==========
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2.1.0 (2023-11-21)
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==================
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* API changes:
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* mtsPID:
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* Assumes control is performed on actuators, not joints
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* Removed all code related to actuator to joint coupling
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* Configuration file is now `.cdg` based and uses JSON (was XML)
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* Effort and position limits come from IO level and are retrieved in `Startup` method
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* Deprecated features:
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* mtsPID: Removed non-linear gains
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* New features:
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* mtsPID:
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* Now uses the velocities sent through `servo_jp` as reference velocities, much better trajectory following!
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* Added support for disturbance observer
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* mtsPID QtWidget:
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* More signals plotted
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* GUI uses CRTK naming convention
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* Added option to save configuration
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* CMake:
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* Updated install targets and debian packages generation
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* Works with ROS2/colcon
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* Bug fixes:
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* mtsPID: fixed deadband transitions
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2.0.0 (2021-04-08)
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==================
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‎CMakeLists.txt

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#
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# (C) Copyright 2012-2016 Johns Hopkins University (JHU), All Rights Reserved.
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# (C) Copyright 2012-2023 Johns Hopkins University (JHU), All Rights Reserved.
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#
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# --- begin cisst license - do not edit ---
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#
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#
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# --- end cisst license ---
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cmake_minimum_required (VERSION 2.8)
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cmake_minimum_required (VERSION 3.10)
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project (sawControllersAll VERSION 2.1.0)
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find_package (cisst REQUIRED)
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include (${CISST_USE_FILE})
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cisst_cpack_settings (
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VENDOR "JHU"
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MAINTAINER "anton.deguet@jhu.edu")
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add_subdirectory (components)
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set (sawControllers_DIR "${sawControllersAll_BINARY_DIR}/components")
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add_subdirectory (examples)
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include (CPack)
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cpack_add_component (sawControllers)
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cpack_add_component (sawControllers-Examples
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DEPENDS sawControllers sawControllers-Qt)

‎colcon.pkg

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{
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"name": "sawControllersAll",
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"dependencies": ["cisst", "sawKeyboardAll"]
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}

‎components/CMakeLists.txt

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#
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# (C) Copyright 2011-2021 Johns Hopkins University (JHU), All Rights Reserved.
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# (C) Copyright 2011-2023 Johns Hopkins University (JHU), All Rights Reserved.
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#
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# --- begin cisst license - do not edit ---
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#
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#
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# --- end cisst license ---
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cmake_minimum_required (VERSION 2.8)
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project (sawControllers)
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cmake_minimum_required (VERSION 3.10)
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project (sawControllers VERSION 2.1.0)
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set (CMAKE_CXX_STANDARD 14)
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set (CMAKE_CXX_STANDARD_REQUIRED ON)
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set (CMAKE_CXX_EXTENSIONS OFF)
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set (REQUIRED_CISST_LIBRARIES
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cisstCommon
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cisstCommonXML
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cisstVector
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cisstOSAbstraction
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cisstMultiTask
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cisstParameterTypes
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cisstRobot
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cisstNumerical)
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find_package (cisst 1.1.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
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find_package (cisst 1.2.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
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if (cisst_FOUND)
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# load cisst configuration
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include (${CISST_USE_FILE})
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# catkin/ROS paths
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cisst_is_catkin_build (sawControllers_IS_CATKIN_BUILT)
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if (sawControllers_IS_CATKIN_BUILT)
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set (sawControllers_CONFIG_FILE_DIR
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"${CATKIN_DEVEL_PREFIX}/share/sawControllers/cmake")
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set (LIBRARY_OUTPUT_PATH "${sawControllers_BINARY_DIR}/lib")
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set (EXECUTABLE_OUTPUT_PATH "${CATKIN_DEVEL_PREFIX}/bin")
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else ()
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set (sawControllers_CONFIG_FILE_DIR "${sawControllers_BINARY_DIR}")
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endif ()
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cisst_set_output_path ()
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# create/configure file for find_package (sawControllers)
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set (sawControllers_INCLUDE_DIR "${sawControllers_SOURCE_DIR}/include"
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"${sawControllers_BINARY_DIR}/include")
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set (sawControllers_HEADER_DIR "${sawControllers_SOURCE_DIR}/include/sawControllers")
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set (sawControllers_LIBRARY_DIR "${LIBRARY_OUTPUT_PATH}")
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set (sawControllers_LIBRARIES sawControllers)
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# Set the version number
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set (sawControllers_VERSION_MAJOR "2")
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set (sawControllers_VERSION_MINOR "0")
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set (sawControllers_VERSION_PATCH "0")
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set (sawControllers_VERSION "${sawControllers_VERSION_MAJOR}.${sawControllers_VERSION_MINOR}.${sawControllers_VERSION_PATCH}")
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include_directories (BEFORE ${sawControllers_INCLUDE_DIR})
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# Generate sawControllersRevision.h
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configure_file ("${sawControllers_SOURCE_DIR}/code/sawControllersRevision.h.in"
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"${sawControllers_BINARY_DIR}/include/sawControllers/sawControllersRevision.h")
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if (CISST_HAS_QT)
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add_subdirectory (code/Qt)
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set (sawControllers_LIBRARIES ${sawControllers_LIBRARIES} sawControllersQt)
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endif ()
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include_directories (${sawControllers_INCLUDE_DIR})
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set (sawControllers_HEADER_DIR "${sawControllers_SOURCE_DIR}/include/sawControllers")
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cisst_add_config_files (sawControllers)
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# create data type using the data generator
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cisst_data_generator (sawControllers
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"${sawControllers_BINARY_DIR}/include" # where to save the file
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"sawControllers/" # sub directory for include
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code/mtsPIDConfiguration.cdg)
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set (HEADER_FILES
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${sawControllers_HEADER_DIR}/osaGravityCompensation.h
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${sawControllers_HEADER_DIR}/osaPDGC.h
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code/mtsPDGC.cpp
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code/mtsPID.cpp)
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add_library (sawControllers ${HEADER_FILES} ${SOURCE_FILES})
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cisst_target_link_libraries (sawControllers ${REQUIRED_CISST_LIBRARIES})
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set_property (TARGET sawControllers PROPERTY FOLDER "sawControllers")
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# add Qt code
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add_subdirectory (code/Qt)
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set (sawControllers_LIBRARIES ${sawControllers_LIBRARIES} ${sawControllersQt_LIBRARIES})
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set (sawControllers_CMAKE_CONFIG_FILE
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"${sawControllers_CONFIG_FILE_DIR}/sawControllersConfig.cmake")
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add_library (sawControllers ${HEADER_FILES} ${SOURCE_FILES}
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${sawControllers_CISST_DG_SRCS}
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${sawControllers_CISST_DG_HDRS})
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configure_file ("${CMAKE_CURRENT_SOURCE_DIR}/cmake/sawControllersConfig.cmake.in"
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"${sawControllers_CONFIG_FILE_DIR}/sawControllersConfig.cmake"
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@ONLY)
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set_target_properties (sawControllers PROPERTIES
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VERSION ${sawControllers_VERSION}
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FOLDER "sawControllers")
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cisst_add_config_version ("${sawControllers_CONFIG_FILE_DIR}/sawControllersConfigVersion.cmake"
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VERSION ${sawControllers_VERSION}
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DESTINATION ${CISST_CMAKE_INSTALL_SUFFIX}/saw
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COMPONENT sawControllers)
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cisst_target_link_libraries (sawControllers ${REQUIRED_CISST_LIBRARIES})
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# Install targets for headers and library
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install (DIRECTORY
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${sawControllers_SOURCE_DIR}/include/sawControllers
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${sawControllers_BINARY_DIR}/include/sawControllers
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DESTINATION include
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COMPONENT sawControllers-dev
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PATTERN .svn EXCLUDE)
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install (TARGETS sawControllers
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install (TARGETS sawControllers COMPONENT sawControllers
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib)
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install (FILES "${sawControllers_CMAKE_CONFIG_FILE}"
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DESTINATION "share/sawControllers")
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endif( cisst_FOUND )

‎components/cmake/sawControllersConfig.cmake.in

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‎components/code/Qt/CMakeLists.txt

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#
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# (C) Copyright 2013-2020 Johns Hopkins University (JHU), All Rights Reserved.
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# (C) Copyright 2013-2021 Johns Hopkins University (JHU), All Rights Reserved.
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#
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# --- begin cisst license - do not edit ---
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#
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${sawControllers_HEADER_DIR}/mtsPIDQtWidget.h
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mtsPIDQtWidget.cpp
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${SAW_CONTROLLERS_QT_WRAP_CPP})
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set_property (TARGET sawControllersQt PROPERTY FOLDER "sawControllers")
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set_target_properties (sawControllersQt PROPERTIES
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VERSION ${sawControllers_VERSION}
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FOLDER "sawControllers")
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cisst_target_link_libraries (sawControllersQt ${REQUIRED_CISST_LIBRARIES})
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# make sure the new library is known by the parent folder to add to the config file
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set (sawControllersQt_LIBRARIES sawControllersQt PARENT_SCOPE)
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install (TARGETS sawControllersQt COMPONENT sawControllers-Qt
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib)
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else (cisst_FOUND_AS_REQUIRED)
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message ("Information: code will not be compiled, it requires ${REQUIRED_CISST_LIBRARIES}")

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