ros-noetic-teb-local-planner.osx.patch

diff --git a/include/teb_local_planner/timed_elastic_band.hpp b/include/teb_local_planner/timed_elastic_band.hpp
index 66c92b8..8a95eaf 100644
--- a/include/teb_local_planner/timed_elastic_band.hpp
+++ b/include/teb_local_planner/timed_elastic_band.hpp
@@ -36,6 +36,7 @@
  * Author: Christoph Rösmann
  *********************************************************************/
 
+#include <iterator>
 #include <teb_local_planner/timed_elastic_band.h>
 
 namespace teb_local_planner
@@ -49,7 +50,7 @@ bool TimedElasticBand::initTrajectoryToGoal(BidirIter path_start, BidirIter path
                                      boost::optional<double> start_orientation, boost::optional<double> goal_orientation, int min_samples, bool guess_backwards_motion) 
 {
     Eigen::Vector2d start_position = fun_position( *path_start );
-    Eigen::Vector2d goal_position = fun_position( *boost::prior(path_end) );
+    Eigen::Vector2d goal_position = fun_position( *std::prev(path_end) );
     
     bool backwards = false;
     
diff --git a/include/teb_local_planner/visualization.hpp b/include/teb_local_planner/visualization.hpp
index e619e52..548c57a 100644
--- a/include/teb_local_planner/visualization.hpp
+++ b/include/teb_local_planner/visualization.hpp
@@ -38,6 +38,7 @@
 
 #include <teb_local_planner/visualization.h>
 #include <boost/utility.hpp>
+#include <iterator>
 
 
 namespace teb_local_planner
@@ -196,7 +197,7 @@ void TebVisualization::publishPathContainer(BidirIter first, BidirIter last, con
   {      
     // iterate single path points
     typename PathType::const_iterator it_point, end_point;
-    for (it_point = first->begin(), end_point = boost::prior(first->end()); it_point != end_point; ++it_point) 
+    for (it_point = first->begin(), end_point = std::prev(first->end()); it_point != end_point; ++it_point) 
     {
       geometry_msgs::Point point_start;
       point_start.x = get_const_reference(*it_point).x();
@@ -205,8 +206,8 @@ void TebVisualization::publishPathContainer(BidirIter first, BidirIter last, con
       marker.points.push_back(point_start);
 
       geometry_msgs::Point point_end;
-      point_end.x = get_const_reference(*boost::next(it_point)).x();
-      point_end.y = get_const_reference(*boost::next(it_point)).y();
+      point_end.x = get_const_reference(*std::next(it_point)).x();
+      point_end.y = get_const_reference(*std::next(it_point)).y();
       point_end.z = 0;
       marker.points.push_back(point_end);
     }

diff --git a/include/teb_local_planner/h_signature.h b/include/teb_local_planner/h_signature.h
index 8837950..4cffcda 100644
--- a/include/teb_local_planner/h_signature.h
+++ b/include/teb_local_planner/h_signature.h
@@ -46,6 +46,7 @@
 #include <teb_local_planner/timed_elastic_band.h>
 
 #include <ros/ros.h>
+#include <boost/math/special_functions/sign.hpp>
 #include <math.h>
 #include <algorithm>
 #include <functional>
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 165527db..df148c9c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,9 +31,10 @@ message(STATUS "System: ${CMAKE_SYSTEM}")
 ## System dependencies are found with CMake's conventions
 SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake_modules)
 message(STATUS "${CMAKE_MODULE_PATH}")
-find_package(Boost REQUIRED COMPONENTS system thread graph)
+find_package(Boost REQUIRED COMPONENTS system thread graph)
 find_package(SUITESPARSE REQUIRED)
 find_package(G2O REQUIRED)
+find_package(CSparse REQUIRED)
 
 # Eigen3 FindScript Backward compatibility (ubuntu saucy)
 # Since FindEigen.cmake is deprecated starting from jade.
@@ -48,7 +49,7 @@ elseif (EXISTS "FindEigen.cmake")
 endif (EXISTS "FindEigen3.cmake")
 
 set(EXTERNAL_INCLUDE_DIRS ${Eigen_INCLUDE_DIRS} ${SUITESPARSE_INCLUDE_DIRS} ${G2O_INCLUDE_DIR})
-set(EXTERNAL_LIBS ${SUITESPARSE_LIBRARIES} ${G2O_LIBRARIES})
+set(EXTERNAL_LIBS ${SUITESPARSE_LIBRARIES} ${G2O_LIBRARIES} ${CSPARSE_LIBRARY} ${Boost_LIBRARIES} Boost::boost)
 
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
diff --git a/cmake_modules/FindCSparse.cmake b/cmake_modules/FindCSparse.cmake
new file mode 100644
index 0000000..5550151
--- /dev/null
+++ b/cmake_modules/FindCSparse.cmake
@@ -0,0 +1,28 @@
+# Look for csparse; note the difference in the directory specifications!
+find_path(CSPARSE_INCLUDE_DIR NAMES cs.h
+  PATHS
+  /usr/include/suitesparse
+  /usr/include
+  /opt/local/include
+  /usr/local/include
+  /sw/include
+  /usr/include/ufsparse
+  /opt/local/include/ufsparse
+  /usr/local/include/ufsparse
+  /sw/include/ufsparse
+  PATH_SUFFIXES
+  suitesparse
+  )
+
+find_library(CSPARSE_LIBRARY NAMES cxsparse libcxsparse
+  PATHS
+  /usr/lib
+  /usr/local/lib
+  /opt/local/lib
+  /sw/lib
+  )
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CSPARSE DEFAULT_MSG
+  CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)
+
diff --git a/cmake_modules/FindSUITESPARSE.cmake b/cmake_modules/FindSUITESPARSE.cmake
index 101b79b..aad8904 100644
--- a/cmake_modules/FindSUITESPARSE.cmake
+++ b/cmake_modules/FindSUITESPARSE.cmake
@@ -1,133 +1,531 @@
-# - Try to find SUITESPARSE
-# Once done this will define
-#  
-#  SUITESPARSE_FOUND            - system has SUITESPARSE
-#  SUITESPARSE_INCLUDE_DIRS     - the SUITESPARSE include directory
-#  SUITESPARSE_LIBRARIES        - Link these to use SUITESPARSE
-#  SUITESPARSE_SPQR_LIBRARY     - name of spqr library (necessary due to error in debian package)
-#  SUITESPARSE_SPQR_LIBRARY_DIR - name of spqr library (necessary due to error in debian package)
-#  SUITESPARSE_LIBRARY_DIR      - Library main directory containing suitesparse libs
-#  SUITESPARSE_LIBRARY_DIRS     - all Library directories containing suitesparse libs
-#  SUITESPARSE_SPQR_VALID       - automatic identification whether or not spqr package is installed correctly
-
-IF (SUITESPARSE_INCLUDE_DIRS)
-  # Already in cache, be silent
-  SET(SUITESPARSE_FIND_QUIETLY TRUE)
-ENDIF (SUITESPARSE_INCLUDE_DIRS)
-
-if( WIN32 )
-   # Find cholmod part of the suitesparse library collection
-
-   FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h
-              PATHS "C:\\libs\\win32\\SuiteSparse\\Include"  )
-
-   # Add cholmod include directory to collection include directories
-   IF ( CHOLMOD_INCLUDE_DIR )
-	list ( APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR} )
-   ENDIF( CHOLMOD_INCLUDE_DIR )
-
-
-   # find path suitesparse library
-   FIND_PATH( SUITESPARSE_LIBRARY_DIRS 
-	         amd.lib
-               PATHS "C:\\libs\\win32\\SuiteSparse\\libs" )
-
-   # if we found the library, add it to the defined libraries
-   IF ( SUITESPARSE_LIBRARY_DIRS )
-	list ( APPEND SUITESPARSE_LIBRARIES optimized;amd;optimized;camd;optimized;ccolamd;optimized;cholmod;optimized;colamd;optimized;metis;optimized;spqr;optimized;umfpack;debug;amdd;debug;camdd;debug;ccolamdd;debug;cholmodd;debug;spqrd;debug;umfpackd;debug;colamdd;debug;metisd;optimized;blas;optimized;libf2c;optimized;lapack;debug;blasd;debug;libf2cd;debug;lapackd )
-   ENDIF( SUITESPARSE_LIBRARY_DIRS )  
-
-else( WIN32 )
-   IF(APPLE)
-	   FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h
-        	      PATHS /opt/local/include/ufsparse
-			    /usr/local/include )
-
-           FIND_PATH( SUITESPARSE_LIBRARY_DIR
-                      NAMES libcholmod.a
-                      PATHS /opt/local/lib
-			    /usr/local/lib )
-   ELSE(APPLE)
-	   FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h
-        	      PATHS /usr/local/include 
-        	            /usr/include 
-        	            /usr/include/suitesparse/ 
-        	            ${CMAKE_SOURCE_DIR}/MacOS/Libs/cholmod
-              	      PATH_SUFFIXES cholmod/ CHOLMOD/ )
-   	
-           FIND_PATH( SUITESPARSE_LIBRARY_DIR
-                      NAMES libcholmod.so libcholmod.a
-                      PATHS /usr/lib 
-                            /usr/lib64
-                            /usr/lib/x86_64-linux-gnu
-                            /usr/lib/i386-linux-gnu
-                            /usr/local/lib
-                            /usr/lib/arm-linux-gnueabihf/
-                            /usr/lib/aarch64-linux-gnu/
-                            /usr/lib/arm-linux-gnueabi/
-                            /usr/lib/arm-linux-gnu)
-   ENDIF(APPLE)
-
-   # Add cholmod include directory to collection include directories
-   IF ( CHOLMOD_INCLUDE_DIR )
-	list ( APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR} )
-   ENDIF( CHOLMOD_INCLUDE_DIR )
-
-   # if we found the library, add it to the defined libraries
-   IF ( SUITESPARSE_LIBRARY_DIR )
-
-       list ( APPEND SUITESPARSE_LIBRARIES amd)
-       list ( APPEND SUITESPARSE_LIBRARIES btf)
-       list ( APPEND SUITESPARSE_LIBRARIES camd)
-       list ( APPEND SUITESPARSE_LIBRARIES ccolamd)
-       list ( APPEND SUITESPARSE_LIBRARIES cholmod)
-       list ( APPEND SUITESPARSE_LIBRARIES colamd)
- #     list ( APPEND SUITESPARSE_LIBRARIES csparse)
-       list ( APPEND SUITESPARSE_LIBRARIES cxsparse)
-       list ( APPEND SUITESPARSE_LIBRARIES klu)
- #     list ( APPEND SUITESPARSE_LIBRARIES spqr)
-       list ( APPEND SUITESPARSE_LIBRARIES umfpack)
-
-       IF (APPLE)
-           list ( APPEND SUITESPARSE_LIBRARIES suitesparseconfig)
-       ENDIF (APPLE)
-
-       # Metis and spqr are optional
-       FIND_LIBRARY( SUITESPARSE_METIS_LIBRARY
-                     NAMES metis
-                     PATHS ${SUITESPARSE_LIBRARY_DIR} )
-       IF (SUITESPARSE_METIS_LIBRARY)			
-	  list ( APPEND SUITESPARSE_LIBRARIES metis)
-       ENDIF(SUITESPARSE_METIS_LIBRARY)
-
-       if(EXISTS  "${CHOLMOD_INCLUDE_DIR}/SuiteSparseQR.hpp")
-	  SET(SUITESPARSE_SPQR_VALID TRUE CACHE BOOL "SuiteSparseSPQR valid")
-       else()
-	  SET(SUITESPARSE_SPQR_VALID false CACHE BOOL "SuiteSparseSPQR valid")
-       endif()
-
-       if(SUITESPARSE_SPQR_VALID)
-	  FIND_LIBRARY( SUITESPARSE_SPQR_LIBRARY
-		      NAMES spqr
-		      PATHS ${SUITESPARSE_LIBRARY_DIR} )
-	  IF (SUITESPARSE_SPQR_LIBRARY)			
-	    list ( APPEND SUITESPARSE_LIBRARIES spqr)
-	  ENDIF (SUITESPARSE_SPQR_LIBRARY)
-       endif()
-       
-    ENDIF( SUITESPARSE_LIBRARY_DIR )  
-   
-endif( WIN32 )
-
-
-IF (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES)
-   IF(WIN32)
-    list (APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR}/../../UFconfig )
-   ENDIF(WIN32)
-   SET(SUITESPARSE_FOUND TRUE)
-   MESSAGE(STATUS "Found SuiteSparse")
-ELSE (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES)
-   SET( SUITESPARSE_FOUND FALSE )
-   MESSAGE(FATAL_ERROR "Unable to find SuiteSparse")
-ENDIF (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES)
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2015 Google Inc. All rights reserved.
+# http://ceres-solver.org/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+#   used to endorse or promote products derived from this software without
+#   specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
 
+# FindSuiteSparse.cmake - Find SuiteSparse libraries & dependencies.
+#
+# This module defines the following variables:
+#
+# SUITESPARSE_FOUND: TRUE iff SuiteSparse and all dependencies have been found.
+# SUITESPARSE_INCLUDE_DIRS: Include directories for all SuiteSparse components.
+# SUITESPARSE_LIBRARIES: Libraries for all SuiteSparse component libraries and
+#                        dependencies.
+# SUITESPARSE_VERSION: Extracted from UFconfig.h (<= v3) or
+#                      SuiteSparse_config.h (>= v4).
+# SUITESPARSE_MAIN_VERSION: Equal to 4 if SUITESPARSE_VERSION = 4.2.1
+# SUITESPARSE_SUB_VERSION: Equal to 2 if SUITESPARSE_VERSION = 4.2.1
+# SUITESPARSE_SUBSUB_VERSION: Equal to 1 if SUITESPARSE_VERSION = 4.2.1
+#
+# SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION: TRUE iff running
+#     on Ubuntu, SUITESPARSE_VERSION is 3.4.0 and found SuiteSparse is a system
+#     install, in which case found version of SuiteSparse cannot be used to link
+#     a shared library due to a bug (static linking is unaffected).
+#
+# The following variables control the behaviour of this module:
+#
+# SUITESPARSE_INCLUDE_DIR_HINTS: List of additional directories in which to
+#                                search for SuiteSparse includes,
+#                                e.g: /timbuktu/include.
+# SUITESPARSE_LIBRARY_DIR_HINTS: List of additional directories in which to
+#                                search for SuiteSparse libraries,
+#                                e.g: /timbuktu/lib.
+#
+# The following variables define the presence / includes & libraries for the
+# SuiteSparse components searched for, the SUITESPARSE_XX variables are the
+# union of the variables for all components.
+#
+# == Symmetric Approximate Minimum Degree (AMD)
+# AMD_FOUND
+# AMD_INCLUDE_DIR
+# AMD_LIBRARY
+#
+# == Constrained Approximate Minimum Degree (CAMD)
+# CAMD_FOUND
+# CAMD_INCLUDE_DIR
+# CAMD_LIBRARY
+#
+# == Column Approximate Minimum Degree (COLAMD)
+# COLAMD_FOUND
+# COLAMD_INCLUDE_DIR
+# COLAMD_LIBRARY
+#
+# Constrained Column Approximate Minimum Degree (CCOLAMD)
+# CCOLAMD_FOUND
+# CCOLAMD_INCLUDE_DIR
+# CCOLAMD_LIBRARY
+#
+# == Sparse Supernodal Cholesky Factorization and Update/Downdate (CHOLMOD)
+# CHOLMOD_FOUND
+# CHOLMOD_INCLUDE_DIR
+# CHOLMOD_LIBRARY
+#
+# == Multifrontal Sparse QR (SuiteSparseQR)
+# SUITESPARSEQR_FOUND
+# SUITESPARSEQR_INCLUDE_DIR
+# SUITESPARSEQR_LIBRARY
+#
+# == Common configuration for all but CSparse (SuiteSparse version >= 4).
+# SUITESPARSE_CONFIG_FOUND
+# SUITESPARSE_CONFIG_INCLUDE_DIR
+# SUITESPARSE_CONFIG_LIBRARY
+#
+# == Common configuration for all but CSparse (SuiteSparse version < 4).
+# UFCONFIG_FOUND
+# UFCONFIG_INCLUDE_DIR
+#
+# Optional SuiteSparse Dependencies:
+#
+# == Serial Graph Partitioning and Fill-reducing Matrix Ordering (METIS)
+# METIS_FOUND
+# METIS_LIBRARY
+
+# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
+# FindSuiteSparse was invoked.
+macro(SUITESPARSE_RESET_FIND_LIBRARY_PREFIX)
+  if (MSVC)
+    set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
+  endif (MSVC)
+endmacro(SUITESPARSE_RESET_FIND_LIBRARY_PREFIX)
+
+# Called if we failed to find SuiteSparse or any of it's required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(SUITESPARSE_REPORT_NOT_FOUND REASON_MSG)
+  unset(SUITESPARSE_FOUND)
+  unset(SUITESPARSE_INCLUDE_DIRS)
+  unset(SUITESPARSE_LIBRARIES)
+  unset(SUITESPARSE_VERSION)
+  unset(SUITESPARSE_MAIN_VERSION)
+  unset(SUITESPARSE_SUB_VERSION)
+  unset(SUITESPARSE_SUBSUB_VERSION)
+  # Do NOT unset SUITESPARSE_FOUND_REQUIRED_VARS here, as it is used by
+  # FindPackageHandleStandardArgs() to generate the automatic error message on
+  # failure which highlights which components are missing.
+
+  suitesparse_reset_find_library_prefix()
+
+  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+  # use the camelcase library name, not uppercase.
+  if (SuiteSparse_FIND_QUIETLY)
+    message(STATUS "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+  elseif (SuiteSparse_FIND_REQUIRED)
+    message(FATAL_ERROR "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+  else()
+    # Neither QUIETLY nor REQUIRED, use no priority which emits a message
+    # but continues configuration and allows generation.
+    message("-- Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
+  endif (SuiteSparse_FIND_QUIETLY)
+
+  # Do not call return(), s/t we keep processing if not called with REQUIRED
+  # and report all missing components, rather than bailing after failing to find
+  # the first.
+endmacro(SUITESPARSE_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set SUITESPARSE_FOUND, but
+# not the other variables we require / set here which could cause the search
+# logic here to fail.
+unset(SUITESPARSE_FOUND)
+
+# Handle possible presence of lib prefix for libraries on MSVC, see
+# also SUITESPARSE_RESET_FIND_LIBRARY_PREFIX().
+if (MSVC)
+  # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
+  # s/t we can set it back before returning.
+  set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
+  # The empty string in this list is important, it represents the case when
+  # the libraries have no prefix (shared libraries / DLLs).
+  set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
+endif (MSVC)
+
+# On macOS, add the Homebrew prefix (with appropriate suffixes) to the
+# respective HINTS directories (after any user-specified locations).  This
+# handles Homebrew installations into non-standard locations (not /usr/local).
+# We do not use CMAKE_PREFIX_PATH for this as given the search ordering of
+# find_xxx(), doing so would override any user-specified HINTS locations with
+# the Homebrew version if it exists.
+if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
+  find_program(HOMEBREW_EXECUTABLE brew)
+  mark_as_advanced(FORCE HOMEBREW_EXECUTABLE)
+  if (HOMEBREW_EXECUTABLE)
+    # Detected a Homebrew install, query for its install prefix.
+    execute_process(COMMAND ${HOMEBREW_EXECUTABLE} --prefix
+      OUTPUT_VARIABLE HOMEBREW_INSTALL_PREFIX
+      OUTPUT_STRIP_TRAILING_WHITESPACE)
+    message(STATUS "Detected Homebrew with install prefix: "
+      "${HOMEBREW_INSTALL_PREFIX}, adding to CMake search paths.")
+    list(APPEND SUITESPARSE_INCLUDE_DIR_HINTS "${HOMEBREW_INSTALL_PREFIX}/include")
+    list(APPEND SUITESPARSE_LIBRARY_DIR_HINTS "${HOMEBREW_INSTALL_PREFIX}/lib")
+  endif()
+endif()
+
+# Specify search directories for include files and libraries (this is the union
+# of the search directories for all OSs).  Search user-specified hint
+# directories first if supplied, and search user-installed locations first
+# so that we prefer user installs to system installs where both exist.
+list(APPEND SUITESPARSE_CHECK_INCLUDE_DIRS
+  /opt/local/include
+  /opt/local/include/ufsparse # Mac OS X
+  /usr/local/homebrew/include # Mac OS X
+  /usr/local/include
+  /usr/include)
+list(APPEND SUITESPARSE_CHECK_LIBRARY_DIRS
+  /opt/local/lib
+  /opt/local/lib/ufsparse # Mac OS X
+  /usr/local/homebrew/lib # Mac OS X
+  /usr/local/lib
+  /usr/lib)
+# Additional suffixes to try appending to each search path.
+list(APPEND SUITESPARSE_CHECK_PATH_SUFFIXES
+  suitesparse) # Windows/Ubuntu
+
+# Wrappers to find_path/library that pass the SuiteSparse search hints/paths.
+#
+# suitesparse_find_component(<component> [FILES name1 [name2 ...]]
+#                                        [LIBRARIES name1 [name2 ...]]
+#                                        [REQUIRED])
+macro(suitesparse_find_component COMPONENT)
+  include(CMakeParseArguments)
+  set(OPTIONS REQUIRED)
+  set(MULTI_VALUE_ARGS FILES LIBRARIES)
+  cmake_parse_arguments(SUITESPARSE_FIND_${COMPONENT}
+    "${OPTIONS}" "" "${MULTI_VALUE_ARGS}" ${ARGN})
+
+  if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+    list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS ${COMPONENT}_FOUND)
+  endif()
+
+  set(${COMPONENT}_FOUND TRUE)
+  if (SUITESPARSE_FIND_${COMPONENT}_FILES)
+    find_path(${COMPONENT}_INCLUDE_DIR
+      NAMES ${SUITESPARSE_FIND_${COMPONENT}_FILES}
+      HINTS ${SUITESPARSE_INCLUDE_DIR_HINTS}
+      PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}
+      PATH_SUFFIXES ${SUITESPARSE_CHECK_PATH_SUFFIXES})
+    if (${COMPONENT}_INCLUDE_DIR)
+      message(STATUS "Found ${COMPONENT} headers in: "
+        "${${COMPONENT}_INCLUDE_DIR}")
+      mark_as_advanced(${COMPONENT}_INCLUDE_DIR)
+    else()
+      # Specified headers not found.
+      set(${COMPONENT}_FOUND FALSE)
+      if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+        suitesparse_report_not_found(
+          "Did not find ${COMPONENT} header (required SuiteSparse component).")
+      else()
+        message(STATUS "Did not find ${COMPONENT} header (optional "
+          "SuiteSparse component).")
+        # Hide optional vars from CMake GUI even if not found.
+        mark_as_advanced(${COMPONENT}_INCLUDE_DIR)
+      endif()
+    endif()
+  endif()
+
+  if (SUITESPARSE_FIND_${COMPONENT}_LIBRARIES)
+    find_library(${COMPONENT}_LIBRARY
+      NAMES ${SUITESPARSE_FIND_${COMPONENT}_LIBRARIES}
+      HINTS ${SUITESPARSE_LIBRARY_DIR_HINTS}
+      PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}
+      PATH_SUFFIXES ${SUITESPARSE_CHECK_PATH_SUFFIXES})
+    if (${COMPONENT}_LIBRARY)
+      message(STATUS "Found ${COMPONENT} library: ${${COMPONENT}_LIBRARY}")
+      mark_as_advanced(${COMPONENT}_LIBRARY)
+    else ()
+      # Specified libraries not found.
+      set(${COMPONENT}_FOUND FALSE)
+      if (SUITESPARSE_FIND_${COMPONENT}_REQUIRED)
+        suitesparse_report_not_found(
+          "Did not find ${COMPONENT} library (required SuiteSparse component).")
+      else()
+        message(STATUS "Did not find ${COMPONENT} library (optional SuiteSparse "
+          "dependency)")
+        # Hide optional vars from CMake GUI even if not found.
+        mark_as_advanced(${COMPONENT}_LIBRARY)
+      endif()
+    endif()
+  endif()
+endmacro()
+
+# Given the number of components of SuiteSparse, and to ensure that the
+# automatic failure message generated by FindPackageHandleStandardArgs()
+# when not all required components are found is helpful, we maintain a list
+# of all variables that must be defined for SuiteSparse to be considered found.
+unset(SUITESPARSE_FOUND_REQUIRED_VARS)
+
+# BLAS.
+find_package(BLAS QUIET)
+if (NOT BLAS_FOUND)
+  suitesparse_report_not_found(
+    "Did not find BLAS library (required for SuiteSparse).")
+endif (NOT BLAS_FOUND)
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS BLAS_FOUND)
+
+# LAPACK.
+find_package(LAPACK QUIET)
+if (NOT LAPACK_FOUND)
+  suitesparse_report_not_found(
+    "Did not find LAPACK library (required for SuiteSparse).")
+endif (NOT LAPACK_FOUND)
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS LAPACK_FOUND)
+
+suitesparse_find_component(AMD REQUIRED FILES amd.h LIBRARIES amd)
+suitesparse_find_component(CAMD REQUIRED FILES camd.h LIBRARIES camd)
+suitesparse_find_component(COLAMD REQUIRED FILES colamd.h LIBRARIES colamd)
+suitesparse_find_component(CCOLAMD REQUIRED FILES ccolamd.h LIBRARIES ccolamd)
+suitesparse_find_component(CHOLMOD REQUIRED FILES cholmod.h LIBRARIES cholmod)
+suitesparse_find_component(
+  SUITESPARSEQR REQUIRED FILES SuiteSparseQR.hpp LIBRARIES spqr)
+if (SUITESPARSEQR_FOUND)
+  # SuiteSparseQR may be compiled with Intel Threading Building Blocks,
+  # we assume that if TBB is installed, SuiteSparseQR was compiled with
+  # support for it, this will do no harm if it wasn't.
+  find_package(TBB QUIET)
+  if (TBB_FOUND)
+    message(STATUS "Found Intel Thread Building Blocks (TBB) library "
+      "(${TBB_VERSION_MAJOR}.${TBB_VERSION_MINOR} / ${TBB_INTERFACE_VERSION}) "
+      "include location: ${TBB_INCLUDE_DIRS}. Assuming SuiteSparseQR was "
+      "compiled with TBB.")
+    # Add the TBB libraries to the SuiteSparseQR libraries (the only
+    # libraries to optionally depend on TBB).
+    list(APPEND SUITESPARSEQR_LIBRARY ${TBB_LIBRARIES})
+  else()
+    message(STATUS "Did not find Intel TBB library, assuming SuiteSparseQR was "
+      "not compiled with TBB.")
+  endif()
+endif(SUITESPARSEQR_FOUND)
+
+# UFconfig / SuiteSparse_config.
+#
+# If SuiteSparse version is >= 4 then SuiteSparse_config is required.
+# For SuiteSparse 3, UFconfig.h is required.
+suitesparse_find_component(
+  SUITESPARSE_CONFIG FILES SuiteSparse_config.h LIBRARIES suitesparseconfig)
+
+if (SUITESPARSE_CONFIG_FOUND)
+  # SuiteSparse_config (SuiteSparse version >= 4) requires librt library for
+  # timing by default when compiled on Linux or Unix, but not on OSX (which
+  # does not have librt).
+  if (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
+    suitesparse_find_component(LIBRT LIBRARIES rt)
+    if (LIBRT_FOUND)
+      message(STATUS "Adding librt: ${LIBRT_LIBRARY} to "
+        "SuiteSparse_config libraries (required on Linux & Unix [not OSX] if "
+        "SuiteSparse is compiled with timing).")
+      list(APPEND SUITESPARSE_CONFIG_LIBRARY ${LIBRT_LIBRARY})
+    else()
+      message(STATUS "Could not find librt, but found SuiteSparse_config, "
+        "assuming that SuiteSparse was compiled without timing.")
+    endif ()
+  endif (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
+else()
+  # Failed to find SuiteSparse_config (>= v4 installs), instead look for
+  # UFconfig header which should be present in < v4 installs.
+  suitesparse_find_component(UFCONFIG FILES UFconfig.h)
+endif ()
+
+if (NOT SUITESPARSE_CONFIG_FOUND AND
+    NOT UFCONFIG_FOUND)
+  suitesparse_report_not_found(
+    "Failed to find either: SuiteSparse_config header & library (should be "
+    "present in all SuiteSparse >= v4 installs), or UFconfig header (should "
+    "be present in all SuiteSparse < v4 installs).")
+endif()
+
+# Extract the SuiteSparse version from the appropriate header (UFconfig.h for
+# <= v3, SuiteSparse_config.h for >= v4).
+list(APPEND SUITESPARSE_FOUND_REQUIRED_VARS SUITESPARSE_VERSION)
+
+if (UFCONFIG_FOUND)
+  # SuiteSparse version <= 3.
+  set(SUITESPARSE_VERSION_FILE ${UFCONFIG_INCLUDE_DIR}/UFconfig.h)
+  if (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+    suitesparse_report_not_found(
+      "Could not find file: ${SUITESPARSE_VERSION_FILE} containing version "
+      "information for <= v3 SuiteSparse installs, but UFconfig was found "
+      "(only present in <= v3 installs).")
+  else (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+    file(READ ${SUITESPARSE_VERSION_FILE} UFCONFIG_CONTENTS)
+
+    string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
+      SUITESPARSE_MAIN_VERSION "${UFCONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}")
+
+    string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
+      SUITESPARSE_SUB_VERSION "${UFCONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}")
+
+    string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
+      SUITESPARSE_SUBSUB_VERSION "${UFCONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}")
+
+    # This is on a single line s/t CMake does not interpret it as a list of
+    # elements and insert ';' separators which would result in 4.;2.;1 nonsense.
+    set(SUITESPARSE_VERSION
+      "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}")
+  endif (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+endif (UFCONFIG_FOUND)
+
+if (SUITESPARSE_CONFIG_FOUND)
+  # SuiteSparse version >= 4.
+  set(SUITESPARSE_VERSION_FILE
+    ${SUITESPARSE_CONFIG_INCLUDE_DIR}/SuiteSparse_config.h)
+  if (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+    suitesparse_report_not_found(
+      "Could not find file: ${SUITESPARSE_VERSION_FILE} containing version "
+      "information for >= v4 SuiteSparse installs, but SuiteSparse_config was "
+      "found (only present in >= v4 installs).")
+  else (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+    file(READ ${SUITESPARSE_VERSION_FILE} SUITESPARSE_CONFIG_CONTENTS)
+
+    string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
+      SUITESPARSE_MAIN_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}")
+
+    string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
+      SUITESPARSE_SUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}")
+
+    string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
+      SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+    string(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
+      SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}")
+
+    # This is on a single line s/t CMake does not interpret it as a list of
+    # elements and insert ';' separators which would result in 4.;2.;1 nonsense.
+    set(SUITESPARSE_VERSION
+      "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}")
+  endif (NOT EXISTS ${SUITESPARSE_VERSION_FILE})
+endif (SUITESPARSE_CONFIG_FOUND)
+
+# METIS (Optional dependency).
+suitesparse_find_component(METIS LIBRARIES metis)
+
+# Only mark SuiteSparse as found if all required components and dependencies
+# have been found.
+set(SUITESPARSE_FOUND TRUE)
+foreach(REQUIRED_VAR ${SUITESPARSE_FOUND_REQUIRED_VARS})
+  if (NOT ${REQUIRED_VAR})
+    set(SUITESPARSE_FOUND FALSE)
+  endif (NOT ${REQUIRED_VAR})
+endforeach(REQUIRED_VAR ${SUITESPARSE_FOUND_REQUIRED_VARS})
+
+if (SUITESPARSE_FOUND)
+  list(APPEND SUITESPARSE_INCLUDE_DIRS
+    ${AMD_INCLUDE_DIR}
+    ${CAMD_INCLUDE_DIR}
+    ${COLAMD_INCLUDE_DIR}
+    ${CCOLAMD_INCLUDE_DIR}
+    ${CHOLMOD_INCLUDE_DIR}
+    ${SUITESPARSEQR_INCLUDE_DIR})
+  # Handle config separately, as otherwise at least one of them will be set
+  # to NOTFOUND which would cause any check on SUITESPARSE_INCLUDE_DIRS to fail.
+  if (SUITESPARSE_CONFIG_FOUND)
+    list(APPEND SUITESPARSE_INCLUDE_DIRS
+      ${SUITESPARSE_CONFIG_INCLUDE_DIR})
+  endif (SUITESPARSE_CONFIG_FOUND)
+  if (UFCONFIG_FOUND)
+    list(APPEND SUITESPARSE_INCLUDE_DIRS
+      ${UFCONFIG_INCLUDE_DIR})
+  endif (UFCONFIG_FOUND)
+  # As SuiteSparse includes are often all in the same directory, remove any
+  # repetitions.
+  list(REMOVE_DUPLICATES SUITESPARSE_INCLUDE_DIRS)
+
+  # Important: The ordering of these libraries is *NOT* arbitrary, as these
+  # could potentially be static libraries their link ordering is important.
+  list(APPEND SUITESPARSE_LIBRARIES
+    ${SUITESPARSEQR_LIBRARY}
+    ${CHOLMOD_LIBRARY}
+    ${CCOLAMD_LIBRARY}
+    ${CAMD_LIBRARY}
+    ${COLAMD_LIBRARY}
+    ${AMD_LIBRARY}
+    ${LAPACK_LIBRARIES}
+    ${BLAS_LIBRARIES})
+  if (SUITESPARSE_CONFIG_FOUND)
+    list(APPEND SUITESPARSE_LIBRARIES
+      ${SUITESPARSE_CONFIG_LIBRARY})
+  endif (SUITESPARSE_CONFIG_FOUND)
+  if (METIS_FOUND)
+    list(APPEND SUITESPARSE_LIBRARIES
+      ${METIS_LIBRARY})
+  endif (METIS_FOUND)
+endif()
+
+# Determine if we are running on Ubuntu with the package install of SuiteSparse
+# which is broken and does not support linking a shared library.
+set(SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION FALSE)
+if (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+    SUITESPARSE_VERSION VERSION_EQUAL 3.4.0)
+  find_program(LSB_RELEASE_EXECUTABLE lsb_release)
+  if (LSB_RELEASE_EXECUTABLE)
+    # Any even moderately recent Ubuntu release (likely to be affected by
+    # this bug) should have lsb_release, if it isn't present we are likely
+    # on a different Linux distribution (should be fine).
+    execute_process(COMMAND ${LSB_RELEASE_EXECUTABLE} -si
+      OUTPUT_VARIABLE LSB_DISTRIBUTOR_ID
+      OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+    if (LSB_DISTRIBUTOR_ID MATCHES "Ubuntu" AND
+        SUITESPARSE_LIBRARIES MATCHES "/usr/lib/libamd")
+      # We are on Ubuntu, and the SuiteSparse version matches the broken
+      # system install version and is a system install.
+      set(SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION TRUE)
+      message(STATUS "Found system install of SuiteSparse "
+        "${SUITESPARSE_VERSION} running on Ubuntu, which has a known bug "
+        "preventing linking of shared libraries (static linking unaffected).")
+    endif (LSB_DISTRIBUTOR_ID MATCHES "Ubuntu" AND
+      SUITESPARSE_LIBRARIES MATCHES "/usr/lib/libamd")
+  endif (LSB_RELEASE_EXECUTABLE)
+endif (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+  SUITESPARSE_VERSION VERSION_EQUAL 3.4.0)
+
+suitesparse_reset_find_library_prefix()
+
+# Handle REQUIRED and QUIET arguments to FIND_PACKAGE
+include(FindPackageHandleStandardArgs)
+if (SUITESPARSE_FOUND)
+  find_package_handle_standard_args(SuiteSparse
+    REQUIRED_VARS ${SUITESPARSE_FOUND_REQUIRED_VARS}
+    VERSION_VAR SUITESPARSE_VERSION
+    FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse.")
+else (SUITESPARSE_FOUND)
+  # Do not pass VERSION_VAR to FindPackageHandleStandardArgs() if we failed to
+  # find SuiteSparse to avoid a confusing autogenerated failure message
+  # that states 'not found (missing: FOO) (found version: x.y.z)'.
+  find_package_handle_standard_args(SuiteSparse
+    REQUIRED_VARS ${SUITESPARSE_FOUND_REQUIRED_VARS}
+    FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse.")
+endif (SUITESPARSE_FOUND)