From e4ac34ecb0cf7c69d6fbe7c032a4ec2f975c367c Mon Sep 17 00:00:00 2001
From: Yorik van Havre <yorik@uncreated.net>
Date: Tue, 13 Oct 2015 16:44:09 -0300
Subject: [PATCH] Path: Removed KDL/Robot dependency

---
 CMakeLists.txt                  |  2 +-
 src/Mod/Path/App/CMakeLists.txt | 41 ++++++++++++++++-----------------
 src/Mod/Path/App/Path.cpp       |  9 ++++----
 src/Mod/Path/App/PreCompiled.h  |  4 ++--
 4 files changed, 28 insertions(+), 28 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8e804b454..9b9787393 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -292,7 +292,7 @@ endif(BUILD_ROBOT)
 #path module dependencies.
 if(BUILD_PATH)
   set(BUILD_PART ON)
-  set(BUILD_ROBOT ON)
+  #set(BUILD_ROBOT ON) reenable this when using KDL
 endif(BUILD_PATH)
 
 #inferred from cmakelists.txt. appears to be working.
diff --git a/src/Mod/Path/App/CMakeLists.txt b/src/Mod/Path/App/CMakeLists.txt
index 11b508009..4d2387839 100644
--- a/src/Mod/Path/App/CMakeLists.txt
+++ b/src/Mod/Path/App/CMakeLists.txt
@@ -73,27 +73,26 @@ SET(Path_SRCS
 SOURCE_GROUP("Python" FILES ${Python_SRCS})
 SOURCE_GROUP("Module" FILES ${Mod_SRCS})
 
-if (WIN32)
-    add_definitions(-DEIGEN2_SUPPORT)
-    FILE( GLOB KDL_SRCS ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/[^.]*.cpp )
-    FILE( GLOB KDL_HPPS ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/[^.]*.hpp
-                        ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/[^.]*.inl)
-
-    FILE( GLOB UTIL_SRCS ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/utilities/[^.]*.cpp
-                         ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/utilities/[^.]*.cxx)
-    FILE( GLOB UTIL_HPPS ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/utilities/[^.]*.h
-                         ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/utilities/[^.]*.hpp)
-
-    SET(Path_SRCS
-        ${Path_SRCS}
-        ${KDL_SRCS}
-        ${KDL_HPPS}
-        ${UTIL_SRCS}
-        ${UTIL_HPPS}
-    )
-
-    SOURCE_GROUP("KDL" FILES ${KDL_SRCS} ${KDL_HPPS} ${UTIL_SRCS} ${UTIL_HPPS} )
-endif(WIN32)
+#if (WIN32) uncomment to use KDL
+#    FILE( GLOB KDL_SRCS ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/[^.]*.cpp )
+#    FILE( GLOB KDL_HPPS ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/[^.]*.hpp
+#                        ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/[^.]*.inl)
+#
+#    FILE( GLOB UTIL_SRCS ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/utilities/[^.]*.cpp
+#                         ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/utilities/[^.]*.cxx)
+#    FILE( GLOB UTIL_HPPS ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/utilities/[^.]*.h
+#                         ${CMAKE_SOURCE_DIR}/src/Mod/Robot/App/kdl_cp/utilities/[^.]*.hpp)
+#
+#    SET(Path_SRCS
+#        ${Path_SRCS}
+#        ${KDL_SRCS}
+#        ${KDL_HPPS}
+#        ${UTIL_SRCS}
+#        ${UTIL_HPPS}
+#    )
+#
+#    SOURCE_GROUP("KDL" FILES ${KDL_SRCS} ${KDL_HPPS} ${UTIL_SRCS} ${UTIL_HPPS} )
+#endif(WIN32)
 
 SET(Path_Scripts
     Init.py
diff --git a/src/Mod/Path/App/Path.cpp b/src/Mod/Path/App/Path.cpp
index aafe99aef..4f609b9a6 100644
--- a/src/Mod/Path/App/Path.cpp
+++ b/src/Mod/Path/App/Path.cpp
@@ -34,10 +34,11 @@
 #include <Base/Stream.h>
 #include <Base/Exception.h>
 
-#include "Mod/Robot/App/kdl_cp/path_line.hpp"
-#include "Mod/Robot/App/kdl_cp/path_circle.hpp"
-#include "Mod/Robot/App/kdl_cp/rotational_interpolation_sa.hpp"
-#include "Mod/Robot/App/kdl_cp/utilities/error.h"
+// KDL stuff - at the moment, not used
+//#include "Mod/Robot/App/kdl_cp/path_line.hpp"
+//#include "Mod/Robot/App/kdl_cp/path_circle.hpp"
+//#include "Mod/Robot/App/kdl_cp/rotational_interpolation_sa.hpp"
+//#include "Mod/Robot/App/kdl_cp/utilities/error.h"
 
 #include "Path.h"
 
diff --git a/src/Mod/Path/App/PreCompiled.h b/src/Mod/Path/App/PreCompiled.h
index 07a2af006..dbac84df9 100644
--- a/src/Mod/Path/App/PreCompiled.h
+++ b/src/Mod/Path/App/PreCompiled.h
@@ -29,12 +29,12 @@
 // Exporting of App classes
 #ifdef FC_OS_WIN32
 # define PathExport  __declspec(dllexport)
-# define RobotExport __declspec(dllexport)
+//# define RobotExport __declspec(dllexport) uncomment this to use KDL
 # define PartExport __declspec(dllexport)
 # define BaseExport  __declspec(dllimport)
 #else // for Linux
 # define PathExport
-# define RobotExport
+//# define RobotExport uncomment this to use KDL
 # define PartExport
 # define BaseExport
 #endif