<commit_before>pods_find_pkg_config(bullet)

if(MATLAB_FOUND)
  add_rbm_mex(compareParsersmex)
endif()

add_executable(urdfKinTest urdfKinTest.cpp)
target_link_libraries(urdfKinTest drakeRBM)
if(bullet_FOUND)
  add_executable(urdfCollisionTest urdfCollisionTest.cpp)
  target_link_libraries(urdfCollisionTest drakeRBM)
endif()

add_executable(urdfManipulatorDynamicsTest urdfManipulatorDynamicsTest.cpp)
target_link_libraries(urdfManipulatorDynamicsTest drakeRBM)

if(NOT WIN32)
  # this test does not compile on MSVC 2010 because of the use of variadic templates
  add_executable(testKinematicsCacheChecks testKinematicsCacheChecks.cpp)
  target_link_libraries(testKinematicsCacheChecks drakeRBM)
  add_test(NAME testKinematicsCacheChecks WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}" COMMAND testKinematicsCacheChecks)
endif()

macro(add_ik_cpp)
  add_executable(${ARGV} ${ARGV}.cpp)
  target_link_libraries(${ARGV} drakeRigidBodyConstraint drakeIK)
  add_test(NAME ${ARGV} WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}" COMMAND ${ARGV})
endmacro()

macro(add_ik_gtest)
  add_executable(${ARGV} ${ARGV}.cpp)
  target_link_libraries(${ARGV} drakeRigidBodyConstraint drakeIK
    ${GTEST_BOTH_LIBRARIES})
  add_test(NAME ${ARGV} WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}" COMMAND ${ARGV})
endmacro()

if(gurobi_FOUND)
  add_ik_cpp(testApproximateIK)
endif()

pods_find_pkg_config(snopt_c)
pods_find_pkg_config(ipopt)

if(snopt_c_FOUND OR ipopt_FOUND)
  add_ik_gtest(testIK)
  add_ik_gtest(testIKpointwise)
endif()
if (snopt_c_FOUND)
  add_ik_gtest(testIKMoreConstraints)
  add_ik_gtest(testIKtraj)
endif()

add_executable(debugManipulatorDynamics debugManipulatorDynamics.cpp)
target_link_libraries(debugManipulatorDynamics drakeRBM)

add_executable(benchmarkRigidBodyTree benchmarkRigidBodyTree.cpp)
target_link_libraries(benchmarkRigidBodyTree drakeRBM)

if(MATLAB_FOUND)
  macro(add_ikoptions_mex)
    add_mex(${ARGV} ${ARGV}.cpp)
    target_link_libraries(${ARGV} drakeRBM drakeMexUtil drakeIKoptions)
  endmacro()
  add_ikoptions_mex(testIKoptionsmex)
endif()

if(bullet_FOUND)<commit_msg>Run testIKMoreConstraints with Ipopt again.<commit_after>pods_find_pkg_config(bullet)

if(MATLAB_FOUND)
  add_rbm_mex(compareParsersmex)
endif()

add_executable(urdfKinTest urdfKinTest.cpp)
target_link_libraries(urdfKinTest drakeRBM)
if(bullet_FOUND)
  add_executable(urdfCollisionTest urdfCollisionTest.cpp)
  target_link_libraries(urdfCollisionTest drakeRBM)
endif()

add_executable(urdfManipulatorDynamicsTest urdfManipulatorDynamicsTest.cpp)
target_link_libraries(urdfManipulatorDynamicsTest drakeRBM)

if(NOT WIN32)
  # this test does not compile on MSVC 2010 because of the use of variadic templates
  add_executable(testKinematicsCacheChecks testKinematicsCacheChecks.cpp)
  target_link_libraries(testKinematicsCacheChecks drakeRBM)
  add_test(NAME testKinematicsCacheChecks WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}" COMMAND testKinematicsCacheChecks)
endif()

macro(add_ik_cpp)
  add_executable(${ARGV} ${ARGV}.cpp)
  target_link_libraries(${ARGV} drakeRigidBodyConstraint drakeIK)
  add_test(NAME ${ARGV} WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}" COMMAND ${ARGV})
endmacro()

macro(add_ik_gtest)
  add_executable(${ARGV} ${ARGV}.cpp)
  target_link_libraries(${ARGV} drakeRigidBodyConstraint drakeIK
    ${GTEST_BOTH_LIBRARIES})
  add_test(NAME ${ARGV} WORKING_DIRECTORY "${PROJECT_SOURCE_DIR}" COMMAND ${ARGV})
endmacro()

if(gurobi_FOUND)
  add_ik_cpp(testApproximateIK)
endif()

pods_find_pkg_config(snopt_c)
pods_find_pkg_config(ipopt)

if(snopt_c_FOUND OR ipopt_FOUND)
  add_ik_gtest(testIK)
  add_ik_gtest(testIKpointwise)
  add_ik_gtest(testIKMoreConstraints)
endif()
if (snopt_c_FOUND)
  add_ik_gtest(testIKtraj)
endif()

add_executable(debugManipulatorDynamics debugManipulatorDynamics.cpp)
target_link_libraries(debugManipulatorDynamics drakeRBM)

add_executable(benchmarkRigidBodyTree benchmarkRigidBodyTree.cpp)
target_link_libraries(benchmarkRigidBodyTree drakeRBM)

if(MATLAB_FOUND)
  macro(add_ikoptions_mex)
    add_mex(${ARGV} ${ARGV}.cpp)
    target_link_libraries(${ARGV} drakeRBM drakeMexUtil drakeIKoptions)
  endmacro()
  add_ikoptions_mex(testIKoptionsmex)
endif()

if(bullet_FOUND)
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