CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(grasp_learning)


# Check for c++11 support
INCLUDE(CheckCXXCompilerFlag)#modulo del compilatore
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)#se è supportato
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
IF(COMPILER_SUPPORTS_CXX11)
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")#aggiunge la macro alla compilazione
ELSEIF(COMPILER_SUPPORTS_CXX0X)
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
  MESSAGE(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")#l'ERROR fa Piantare il cmake
ENDIF()


 
# Set optimized building:
IF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
ENDIF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")


find_package(orocos_kdl REQUIRED)



## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  roslib
  sensor_msgs
  std_msgs
  urdf
  kdl_conversions
  kdl_parser
  visualization_msgs
  rviz_visual_tools
  rviz
  eigen_conversions
  message_generation
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
   FILES
   box_dimension.msg
)

## Generate services in the 'srv' folder
add_service_files(
   FILES
   
)

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
   DEPENDENCIES
   std_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## 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
#  LIBRARIES stima
CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs message_runtime
#  DEPENDS system_lib
DEPENDS orocos_kdl


)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
  ${orocos_kdl_INCLUDE_DIRS}
  include
)




link_directories(${orocos_kdl_LIBRARY_DIRS})




## Declare a C++ library
# add_library(stima
#   src/${PROJECT_NAME}/stima.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(stima ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
add_executable(random_box_discrete_ src/Random_box_.cpp)
target_link_libraries (random_box_discrete_ ${catkin_LIBRARIES} ${Eigen_LIBRARIES})

add_executable(jacobian_urdf_model_ src/jacobian_urdf_model_.cpp)
target_link_libraries (jacobian_urdf_model_ ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(grasp_quality_ src/grasp_quality_.cpp)
target_link_libraries (grasp_quality_ ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(grasp_quality_2 src/grasp_quality_2.cpp)
target_link_libraries (grasp_quality_2 ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(grasp_quality_measure_PCR_PGR src/grasp_quality_measure_PCR_PGR.cpp)
target_link_libraries (grasp_quality_measure_PCR_PGR ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(index_quality_PCR_PGR src/index_quality_PCR_PGR.cpp)
target_link_libraries (index_quality_PCR_PGR ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(PGR_3 src/PGR_3.cpp)
target_link_libraries(PGR_3 ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(PGR_4 src/PGR_4.cpp)
target_link_libraries(PGR_4 ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(PGR_5 src/PGR_5.cpp)
target_link_libraries(PGR_5 ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})


add_executable(svm src/svm.cpp)
target_link_libraries(svm ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(show_Rviz src/show_Rviz.cpp)
target_link_libraries(show_Rviz ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})




add_executable(collision_avoidance src/collision_avoidance.cpp)
target_link_libraries(collision_avoidance ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})


add_executable(test_show_hand_point src/test_show_hand_point.cpp)
target_link_libraries(test_show_hand_point ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})



add_executable(test_show_on_Rviz_box src/test_show_on_Rviz_box.cpp)
target_link_libraries(test_show_on_Rviz_box ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})


add_executable(populate_grasp_dataset src/populate_grasp_dataset.cpp)
target_link_libraries(populate_grasp_dataset ${catkin_LIBRARIES} ${Eigen_LIBRARIES} )


# add_executable(comunication_vision src/comunication_vision.cpp)
# target_link_libraries(comunication_vision ${catkin_LIBRARIES})

add_executable(comunication_robot src/comunication_robot.cpp)
target_link_libraries(comunication_robot ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(discrete_angle src/discrete_angle.cpp)
target_link_libraries(discrete_angle ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})


add_executable(test_file_2_fingers src/test_file_2_fingers.cpp)
target_link_libraries(test_file_2_fingers ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(test_file_4_fingers src/test_file_4_fingers.cpp)
target_link_libraries(test_file_4_fingers ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})

add_executable(test_file_6_fingers src/test_file_6_fingers.cpp)
target_link_libraries(test_file_6_fingers ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})



add_executable(media_varianza src/media_varianza.cpp)
target_link_libraries(media_varianza ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})


add_executable(filter_database_nan src/filter_database_nan.cpp)
target_link_libraries(filter_database_nan ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})


add_executable(box_poses src/box_poses.cpp)
target_link_libraries(box_poses ${catkin_LIBRARIES} ${Eigen_LIBRARIES})


add_executable(grasp_quality_ROA src/grasp_quality_ROA.cpp)
target_link_libraries(grasp_quality_ROA ${catkin_LIBRARIES} ${Eigen_LIBRARIES})




## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(stima_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(stima_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS stima stima_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_stima.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)