cmake_minimum_required(VERSION 2.8.3)
project(task_definition)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
set(CMAKE_EXE_LINKER_FLAGS -Wl,--no-as-needed)
set(CMAKE_SHARED_LINKER_FLAGS -Wl,--no-as-needed)
set(CMAKE_MODULE_LINKER_FLAGS -Wl,--no-as-needed)

find_package(catkin REQUIRED COMPONENTS
  exotica
)

find_package(Eigen3 REQUIRED)

##find_package(EIGEN REQUIRED)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS exotica
  DEPENDS
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
)

## Declare a cpp library
add_library(${PROJECT_NAME} src/TaskSqrError.cpp
                            src/TaskTerminationCriterion.cpp
           )
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

cmake_minimum_required(VERSION 2.8.3)
project(task_definition)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
set(CMAKE_EXE_LINKER_FLAGS -Wl,--no-as-needed)
set(CMAKE_SHARED_LINKER_FLAGS -Wl,--no-as-needed)
set(CMAKE_MODULE_LINKER_FLAGS -Wl,--no-as-needed)

find_package(catkin REQUIRED COMPONENTS
  exotica
)

#find_package(Eigen3 REQUIRED)
find_package(PkgConfig)
pkg_search_module(Eigen3 REQUIRED eigen3)

##find_package(EIGEN REQUIRED)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS exotica
  DEPENDS
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
)

## Declare a cpp library
add_library(${PROJECT_NAME} src/TaskSqrError.cpp
                            src/TaskTerminationCriterion.cpp
           )
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

Change to old pkgconfig in task_definition
Change to old pkgconfig in task_definition
