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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(free_gait_core)
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
quadruped_model
numopt_quadprog
curves
grid_map_core
loco
robot_utils
message_logger
)
## System dependencies are found with CMake's conventions
find_package(Eigen3 REQUIRED)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS
include
${EIGEN3_INCLUDE_DIR}
LIBRARIES
${PROJECT_NAME}
CATKIN_DEPENDS
quadruped_model
numopt_quadprog
curves
grid_map_core
loco
robot_utils
message_logger
)
# Attempt to find catkinized kindr
find_package(kindr QUIET)
if(NOT kindr_FOUND)
# Attempt to find package-based kindr
find_package(PkgConfig REQUIRED)
pkg_check_modules(kindr kindr REQUIRED)
endif()
###########
## Build ##
###########
## Specify additional locations of header files
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
## Declare a cpp library
add_library(${PROJECT_NAME}
src/TypeDefs.cpp
src/TypePrints.cpp
src/base_motion/BaseMotionBase.cpp
src/base_motion/BaseAuto.cpp
src/base_motion/BaseTarget.cpp
src/base_motion/BaseTrajectory.cpp
src/leg_motion/LegMotionBase.cpp
src/leg_motion/EndEffectorMotionBase.cpp
src/leg_motion/JointMotionBase.cpp
src/leg_motion/LegMode.cpp
src/leg_motion/JointTrajectory.cpp
src/leg_motion/EndEffectorTrajectory.cpp
src/leg_motion/EndEffectorTarget.cpp
src/leg_motion/Footstep.cpp
src/step/Step.cpp
src/step/StepQueue.cpp
src/step/StepCompleter.cpp
src/step/StepComputer.cpp
src/step/CustomCommand.cpp
src/executor/Executor.cpp
src/executor/ExecutorState.cpp
src/executor/BatchExecutor.cpp
src/executor/State.cpp
src/executor/StateBatch.cpp
src/executor/StateBatchComputer.cpp
src/executor/AdapterBase.cpp
src/pose_optimization/PoseOptimizationGeometric.cpp
src/pose_optimization/PoseOptimizationQP.cpp
)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
)
#############
## Testing ##
#############
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
# Add gtest based cpp test target and link libraries
catkin_add_gtest(${PROJECT_NAME}-test
test/test_free_gait_core.cpp
test/StepTest.cpp
test/FootstepTest.cpp
test/PoseOptimizationQpTest.cpp
)
if(TARGET ${PROJECT_NAME}-test)
target_link_libraries(${PROJECT_NAME}-test
${PROJECT_NAME}
)
endif()
#############
## Install ##
#############
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(
DIRECTORY doc
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)