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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(homotopy_based_planning)
set(CATKIN_PACKAGES
arc_utilities
roscpp
sdf_tools
visualization_msgs
)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS ${CATKIN_PACKAGES})
## System dependencies are found with CMake's conventions
find_package(cmake_modules REQUIRED)
find_package(Eigen3 REQUIRED)
set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
find_package(GSL REQUIRED)
################################################
## 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
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## 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
# visualization_msgs
# )
###################################
## catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}_planar
${PROJECT_NAME}_3d
CATKIN_DEPENDS ${CATKIN_PACKAGES}
DEPENDS Eigen3
GSL
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include
SYSTEM
${EIGEN3_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${GSL_INCLUDE_DIRS}
)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -O3 -g -Wall -Wextra -Wpedantic -Wconversion")
unset(USE_OPEN_MP CACHE)
option(USE_OPEN_MP "Set to ON if we want to use OpenMP" ON)
if(USE_OPEN_MP)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp -DUSE_OPEN_MP")
message(STATUS "Enabling OpenMP for Homotopy Based Planning library")
else(USE_OPEN_MP)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unknown-pragmas")
message(WARNING "Disabling OpenMP for Homotopy Based Planning library")
endif(USE_OPEN_MP)
## Library file for the whole project
#FILE(GLOB hpp_SRC "include/${PROJECT_NAME}/*.hpp")
#FILE(GLOB h_SRC "include/${PROJECT_NAME}/*.h")
#FILE(GLOB cpp_SRC "src/*.cpp")
add_library(${PROJECT_NAME}_planar include/homotopy_based_planning/planar_rectangles_circles_environment.h src/planar_rectangles_circles_environment.cpp include/homotopy_based_planning/h_signature_astar.hpp)
add_dependencies(${PROJECT_NAME}_planar ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_planar ${catkin_LIBRARIES})
add_executable(planar_rectangles_circles_node_fig12 nodes/planar_rectangles_circles_node_fig12.cpp)
add_dependencies(planar_rectangles_circles_node_fig12 ${catkin_EXPORTED_TARGETS})
target_link_libraries(planar_rectangles_circles_node_fig12 ${PROJECT_NAME}_planar)
add_executable(planar_rectangles_circles_node_fig13 nodes/planar_rectangles_circles_node_fig13.cpp)
add_dependencies(planar_rectangles_circles_node_fig13 ${catkin_EXPORTED_TARGETS})
target_link_libraries(planar_rectangles_circles_node_fig13 ${PROJECT_NAME}_planar)
add_executable(planar_rectangles_circles_node_fig14 nodes/planar_rectangles_circles_node_fig14.cpp)
add_dependencies(planar_rectangles_circles_node_fig14 ${catkin_EXPORTED_TARGETS})
target_link_libraries(planar_rectangles_circles_node_fig14 ${PROJECT_NAME}_planar)
add_library(${PROJECT_NAME}_3d include/homotopy_based_planning/three_dimensional_environment.h src/three_dimensional_environment.cpp include/homotopy_based_planning/h_signature_astar.hpp)
add_dependencies(${PROJECT_NAME}_3d ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_3d ${catkin_LIBRARIES} ${GSL_LIBRARIES})
add_executable(three_dimensional_node_fig17a nodes/three_dimensional_node_fig17a.cpp)
add_dependencies(three_dimensional_node_fig17a ${catkin_EXPORTED_TARGETS})
target_link_libraries(three_dimensional_node_fig17a ${PROJECT_NAME}_3d)
add_executable(three_dimensional_node_fig17b nodes/three_dimensional_node_fig17b.cpp)
add_dependencies(three_dimensional_node_fig17b ${catkin_EXPORTED_TARGETS})
target_link_libraries(three_dimensional_node_fig17b ${PROJECT_NAME}_3d)
add_executable(three_dimensional_node_fig18a nodes/three_dimensional_node_fig18a.cpp)
add_dependencies(three_dimensional_node_fig18a ${catkin_EXPORTED_TARGETS})
target_link_libraries(three_dimensional_node_fig18a ${PROJECT_NAME}_3d)
add_executable(three_dimensional_node_fig18b nodes/three_dimensional_node_fig18b.cpp)
add_dependencies(three_dimensional_node_fig18b ${catkin_EXPORTED_TARGETS})
target_link_libraries(three_dimensional_node_fig18b ${PROJECT_NAME}_3d)
#############
## 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 ${PROJECT_NAME} ${PROJECT_NAME}_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_homotopy_based_planning.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)