From 801824fb83d8f471654b3f13391eea9cca2ad518 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Mon, 24 May 2021 09:13:33 +0200
Subject: [PATCH] WBToolbox: Explicitly enable dependency on ICUB, qpOASES and
 OsqpEigen (#755)

---
 cmake/BuildWBToolbox.cmake | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/cmake/BuildWBToolbox.cmake b/cmake/BuildWBToolbox.cmake
index 237fdbbb6..cfc1b2dac 100644
--- a/cmake/BuildWBToolbox.cmake
+++ b/cmake/BuildWBToolbox.cmake
@@ -10,6 +10,7 @@ find_or_build_package(ICUB QUIET)
 find_or_build_package(iDynTree QUIET)
 find_or_build_package(qpOASES QUIET)
 find_or_build_package(BlockFactory QUIET)
+find_or_build_package(OsqpEigen QUIET)
 
 ycm_ep_helper(WBToolbox TYPE GIT
               STYLE GITHUB
@@ -18,10 +19,14 @@ ycm_ep_helper(WBToolbox TYPE GIT
               COMPONENT dynamics
               FOLDER src
               CMAKE_ARGS -DWBT_USES_MATLAB:BOOL=${ROBOTOLOGY_USES_MATLAB}
+                         -DWBT_USES_ICUB:BOOL=ON
+                         -DWBT_USES_QPOASES:BOOL=ON
+                         -DWBT_USES_OSQPEIGEN:BOOL=ON
               DEPENDS YARP
                       ICUB
                       iDynTree
                       qpOASES
-                      BlockFactory)
+                      BlockFactory
+                      OsqpEigen)
 
 set(WBToolbox_CONDA_DEPENDENCIES eigen)