--- a/code/player/trunk/server/drivers/localization/ekfvloc/CMakeLists.txt
+++ b/code/player/trunk/server/drivers/localization/ekfvloc/CMakeLists.txt
@@ -1,7 +1,10 @@
 PLAYERDRIVER_OPTION(ekfvloc build_ekfvloc ON)
 PLAYERDRIVER_REQUIRE_PKG (ekfvloc build_ekfvloc gsl
-    ekfvloc_includeDirs ekfvloc_libDirs ekfvloc_linkLibs
-    ekfvloc_linkFlags ekfvloc_cFlags)
+    gsl_includeDirs gsl_libDirs gsl_linkLibs
+    gsl_linkFlags gsl_cFlags)
+PLAYERDRIVER_REQUIRE_PKG(ekfvloc build_ekfvloc eigen3 
+    eigen_includeDirs eigen_libDirs eigen_linkLibs
+    eigen_linkFlags eigen_cFlags)
 
 
 IF (NOT HAVE_STL)
@@ -12,9 +15,11 @@
 
 PLAYERDRIVER_REQUIRE_OS(ekfvloc build_ekfvloc UNIX)
 PLAYERDRIVER_ADD_DRIVER (ekfvloc build_ekfvloc
-    INCLUDEDIRS ${ekfvloc_includeDirs} LIBDIRS ${ekfvloc_libDirs}
-    LINKLIBS ${ekfvloc_linkLibs} LINKFLAGS ${ekfvloc_linkFlags}
-    CFLAGS ${ekfvloc_cFlags} 
+    INCLUDEDIRS ${gsl_includeDirs} ${eigen_includeDirs}
+    LIBDIRS ${gsl_libDirs} ${eigen_libDirs}
+    LINKLIBS ${gsl_linkLibs} ${eigen_linkLibs}
+    LINKFLAGS ${gsl_linkFlags} ${eigen_linkFlags}
+    CFLAGS ${gsl_cFlags} ${eigen_cFlags}
     SOURCES
     ekfvloc_driver.cc
     feature.cc