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Make g2o headers relocatable by using build/install placeholders #390

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Make g2o headers relocatable by using build/install placeholders #390

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8 changes: 4 additions & 4 deletions CMakeLists.txt
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Expand Up @@ -58,11 +58,11 @@ if(APPLE)
endif(APPLE)

# Set the output directory for the build executables and libraries
set(g2o_RUNTIME_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the binaries")
set(g2o_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/bin CACHE PATH "Target for the binaries")
if(WIN32)
set(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries")
set(g2o_LIBRARY_OUTPUT_DIRECTORY $${CMAKE_CURRENT_BINARY_DIR}/bin CACHE PATH "Target for the libraries")
else(WIN32)
set(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries")
set(g2o_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/lib CACHE PATH "Target for the libraries")
endif(WIN32)
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
Expand Down Expand Up @@ -355,7 +355,7 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}")
# Find Eigen3. If it defines the target, this is used. If not,
# fall back to the using the module form.
# See https://eigen.tuxfamily.org/dox/TopicCMakeGuide.html for details
find_package(Eigen3 REQUIRED)
find_package(Eigen3 REQUIRED NO_MODULE)
if (TARGET Eigen3::Eigen)
set(G2O_EIGEN3_EIGEN_TARGET Eigen3::Eigen)
else()
Expand Down
8 changes: 6 additions & 2 deletions EXTERNAL/csparse/CMakeLists.txt
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Expand Up @@ -67,16 +67,20 @@ if (UNIX)
target_link_libraries(csparse PUBLIC m)
endif()

# Make it relocatable.
target_include_directories(csparse INTERFACE
$<INSTALL_INTERFACE:include/g2o/csparse>
)

install(TARGETS csparse
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
install(FILES ${headers} DESTINATION ${INCLUDES_INSTALL_DIR}/EXTERNAL/csparse)
install(FILES ${headers} DESTINATION ${INCLUDES_INSTALL_DIR}/csparse)

# Set up the variables
set(CSPARSE_LIBRARY "$<TARGET_FILE:csparse>")
Expand Down
5 changes: 4 additions & 1 deletion EXTERNAL/freeglut/CMakeLists.txt
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Expand Up @@ -11,12 +11,15 @@ if (APPLE)
set_target_properties(freeglut_minimal PROPERTIES INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
endif()

target_include_directories(freeglut_minimal INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include/freeglut>)

install(TARGETS freeglut_minimal
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
9 changes: 7 additions & 2 deletions g2o/core/CMakeLists.txt
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Expand Up @@ -39,19 +39,24 @@ robust_kernel_factory.cpp robust_kernel_factory.h
g2o_core_api.h
)


target_link_libraries(core PUBLIC stuff ${G2O_EIGEN3_EIGEN_TARGET} )

set_target_properties(core PROPERTIES OUTPUT_NAME ${LIB_PREFIX}core)
target_link_libraries(core PUBLIC stuff ${G2O_EIGEN3_EIGEN_TARGET})

if (APPLE)
set_target_properties(core PROPERTIES INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
endif()

target_include_directories(core INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS core
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
5 changes: 4 additions & 1 deletion g2o/solvers/csparse/CMakeLists.txt
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Expand Up @@ -34,13 +34,16 @@ target_link_libraries(solver_csparse
PUBLIC csparse_extension
PUBLIC core)

target_include_directories(solver_csparse PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>
)

install(TARGETS solver_csparse csparse_extension
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)
file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
install(FILES ${headers} DESTINATION ${INCLUDES_INSTALL_DIR}/solvers/csparse)
5 changes: 4 additions & 1 deletion g2o/solvers/dense/CMakeLists.txt
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Expand Up @@ -9,12 +9,15 @@ endif()

target_link_libraries(solver_dense core)

target_include_directories(solver_dense PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS solver_dense
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
5 changes: 4 additions & 1 deletion g2o/solvers/eigen/CMakeLists.txt
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Expand Up @@ -8,12 +8,15 @@ if (APPLE)
endif()
target_link_libraries(solver_eigen core)

target_include_directories(solver_eigen PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS solver_eigen
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
5 changes: 4 additions & 1 deletion g2o/solvers/pcg/CMakeLists.txt
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Expand Up @@ -11,12 +11,15 @@ endif()

target_link_libraries(solver_pcg core)

target_include_directories(solver_pcg PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS solver_pcg
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
5 changes: 4 additions & 1 deletion g2o/solvers/slam2d_linear/CMakeLists.txt
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Expand Up @@ -17,12 +17,15 @@ endif()

target_link_libraries(solver_slam2d_linear solver_csparse types_slam2d)

target_include_directories(solver_slam2d_linear PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS solver_slam2d_linear
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
5 changes: 4 additions & 1 deletion g2o/solvers/structure_only/CMakeLists.txt
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Expand Up @@ -10,12 +10,15 @@ endif()

target_link_libraries(solver_structure_only core)

target_include_directories(solver_structure_only PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS solver_structure_only
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
10 changes: 8 additions & 2 deletions g2o/stuff/CMakeLists.txt
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Expand Up @@ -13,6 +13,10 @@ add_library(stuff ${G2O_LIB_TYPE}
set_target_properties(stuff PROPERTIES OUTPUT_NAME ${LIB_PREFIX}stuff)
target_link_libraries(stuff PUBLIC ${G2O_EIGEN3_EIGEN_TARGET})

target_include_directories(stuff PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

if (APPLE)
set_target_properties(stuff PROPERTIES INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
endif()
Expand All @@ -22,7 +26,6 @@ install(TARGETS stuff
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

# build our OpenGL helper library
Expand All @@ -38,11 +41,14 @@ endif()
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

target_link_libraries(opengl_helper PUBLIC ${G2O_OPENGL_TARGET} ${G2O_EIGEN3_EIGEN_TARGET})
set_target_properties(opengl_helper PROPERTIES OUTPUT_NAME "${LIB_PREFIX}opengl_helper")

target_include_directories(opengl_helper PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)
endif()

if(${CMAKE_SYSTEM_NAME} MATCHES "Linux" AND NOT ANDROID)
Expand Down
5 changes: 4 additions & 1 deletion g2o/types/data/CMakeLists.txt
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Expand Up @@ -21,12 +21,15 @@ if(G2O_HAVE_OPENGL)
target_link_libraries(types_data freeglut_minimal opengl_helper)
endif()

target_include_directories(types_data PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS types_data
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
5 changes: 4 additions & 1 deletion g2o/types/icp/CMakeLists.txt
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Expand Up @@ -9,12 +9,15 @@ if (APPLE)
endif()
target_link_libraries(types_icp types_sba types_slam3d)

target_include_directories(types_icp PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS types_icp
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
5 changes: 4 additions & 1 deletion g2o/types/sba/CMakeLists.txt
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Expand Up @@ -10,12 +10,15 @@ if (APPLE)
endif()
target_link_libraries(types_sba core types_slam3d)

target_include_directories(types_sba PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS types_sba
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
4 changes: 4 additions & 0 deletions g2o/types/sclam2d/CMakeLists.txt
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Expand Up @@ -16,6 +16,10 @@ if(G2O_HAVE_OPENGL)
target_link_libraries(types_sclam2d ${OPENGL_gl_LIBRARY})
endif()

target_include_directories(types_sclam2d PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS types_sclam2d
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
Expand Down
5 changes: 4 additions & 1 deletion g2o/types/sim3/CMakeLists.txt
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Expand Up @@ -9,12 +9,15 @@ if (APPLE)
endif()
target_link_libraries(types_sim3 PUBLIC types_sba)

target_include_directories(types_sim3 PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS types_sim3
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
5 changes: 4 additions & 1 deletion g2o/types/slam2d/CMakeLists.txt
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Expand Up @@ -26,12 +26,15 @@ if(G2O_HAVE_OPENGL)
target_link_libraries(types_slam2d opengl_helper ${OPENGL_gl_LIBRARY} )
endif()

target_include_directories(types_slam2d PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS types_slam2d
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
5 changes: 4 additions & 1 deletion g2o/types/slam2d_addons/CMakeLists.txt
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Expand Up @@ -21,12 +21,15 @@ if(G2O_HAVE_OPENGL)
target_link_libraries(types_slam2d_addons ${OPENGL_gl_LIBRARY})
endif()

target_include_directories(types_slam2d_addons PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS types_slam2d_addons
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
5 changes: 4 additions & 1 deletion g2o/types/slam3d/CMakeLists.txt
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Expand Up @@ -49,12 +49,15 @@ if(G2O_HAVE_OPENGL)
target_link_libraries(types_slam3d opengl_helper ${OPENGL_gl_LIBRARY} )
endif()

target_include_directories(types_slam3d PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>)

install(TARGETS types_slam3d
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down
6 changes: 5 additions & 1 deletion g2o/types/slam3d_addons/CMakeLists.txt
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Expand Up @@ -26,12 +26,16 @@ if(G2O_HAVE_OPENGL)
target_link_libraries(types_slam3d_addons ${OPENGL_gl_LIBRARY} )
endif()

target_include_directories(types_slam3d_addons PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include>
)

install(TARGETS types_slam3d_addons
EXPORT ${G2O_TARGETS_EXPORT_NAME}
RUNTIME DESTINATION ${RUNTIME_DESTINATION}
LIBRARY DESTINATION ${LIBRARY_DESTINATION}
ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
INCLUDES DESTINATION ${INCLUDES_DESTINATION}
)

file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
Expand Down