KDL 1.0.2 Windows Install

Note: Depends on Eigen.

To install KDL 1.0.2, click on the following link: http://people.mech.kuleuven.be/~rsmits/kdl/orocos-kdl-1.0.2-src.tar.gz and save the file to a given folder. Extract its contents.

In "kdl-1.0.2/config" you'll find a file called "FindEigen2.cmake". Edit its contents for it to point to the installed Eigen2 directory, normally from /usr/include /usr/include/eigen2 to "C:/Archivos de programa/Eigen/include" "C:/Archivos de programa/Eigen/include/eigen2" or "C:/Program Files/Eigen/include" "C:/Program Files/Eigen/include/eigen2". Then copy it to the CMake Modules directory (something like C:\Archivos de programa\CMake 2.6\share\cmake-2.6\Modules) to make it available system-wise.

Return to the KDL directory. Create a folder called build. Open CMake. Use the KDL folder full path in the first form slot (such as C:\robotsuc3mes\kdl-1.0.2), and build full path in the second slot (such as C:\robotsuc3mes\kdl-1.0.2\build). Press Configure, Finish once selected VS2008, Configure again, then Generate once. Close CMake and browse to winbuild, open "YARP.sln" and open it (it is a MS Visual Studio 2009 solution file). Change build type from Debug to Release. Press Build -> Build Solution. Right-click on INSTALL from the Solution Explorer of the left, and click on BUILD from the deployed menu.

Note: There are some variants of .cmake for KDL, such as on, http://people.mech.kuleuven.be/~rsmits/FindKDL/, but all depend on pkgconfig.