Use non-POD mosek

.gitmodules

@@ -33,7 +33,7 @@
 	url = https://github.com/RobotLocomotion/gurobi.git
 [submodule "externals/mosek"]
 	path = externals/mosek
-	url = https://github.com/rdeits/mosek-pod.git
+	url = https://github.com/RobotLocomotion/mosek.git
 [submodule "externals/iris"]
 	path = externals/iris
 	url = https://github.com/rdeits/iris-distro.git

CMakeLists.txt

@@ -20,7 +20,6 @@ drake_setup_options()
 # External projects in order of dependencies; 'trivial' ones first
 drake_add_external(eigen PUBLIC CMAKE)
 drake_add_external(meshconverters PUBLIC CMAKE)
-drake_add_external(mosek PUBLIC MATLAB)
 drake_add_external(spdlog PUBLIC CMAKE)
 drake_add_external(swigmake PUBLIC CMAKE MATLAB PYTHON)
 drake_add_external(yalmip PUBLIC CMAKE MATLAB)
@@ -106,6 +105,13 @@ drake_add_external(ipopt PUBLIC AUTOTOOLS FORTRAN
     --with-lapack=BUILD
     --with-pic)
 
+# mosek
+drake_add_external(mosek PUBLIC CMAKE MATLAB
+  CMAKE_ARGS
+    -DBUILD_TESTING=OFF
+    -DWITH_MATLAB=${Matlab_FOUND}
+    -DWITH_PYTHON=OFF)
+
 # nlopt
 drake_add_external(nlopt PUBLIC CMAKE
   CMAKE_ARGS

cmake/packages.cmake

@@ -92,7 +92,7 @@ macro(drake_find_packages)
   drake_find_package(gurobi CONFIG)
   drake_find_package(lcm CONFIG)
   drake_find_package(meshconverters CONFIG)
-  drake_find_package(mosek PKG_CONFIG)
+  drake_find_package(mosek CONFIG)
   drake_find_package(NLopt CONFIG)
   drake_find_package(octomap CONFIG)
   drake_find_package(robotlocomotion-lcmtypes CONFIG)

drake/solvers/CMakeLists.txt

@@ -123,8 +123,7 @@ if(gurobi_FOUND)
   target_link_libraries(drakeOptimization gurobi)
 endif()
 if(mosek_FOUND)
-  target_include_directories(drakeOptimization PUBLIC ${mosek_INCLUDE_DIRS})
-  target_link_libraries(drakeOptimization ${mosek_LIBRARIES})
+  target_link_libraries(drakeOptimization mosek)
 endif()
 
 if(BUILD_TESTING)

drake/solvers/mosek_solver.cc

@@ -9,7 +9,7 @@
 #include <list>
 #include <vector>
 
-#include <mosek/mosek.h>
+#include <mosek.h>
 
 #include <Eigen/Core>
 #include <Eigen/SparseCore>