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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(reloPush LANGUAGES CXX)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# CMake Path
configure_file (${CMAKE_CURRENT_SOURCE_DIR}/include/config.h.in ${CMAKE_CURRENT_SOURCE_DIR}/include/config.h @ONLY)
## 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
eigen_conversions
geometry_msgs
message_generation
nav_msgs
roscpp
rospy
std_msgs
tf
tf_conversions
)
# Find Boost
find_package(Boost REQUIRED)
if(NOT Boost_FOUND)
message(AUTHOR_WARNING,"Boost not found")
endif(NOT Boost_FOUND)
## OPEN MOTION PLANNING LIBRARY
find_package(ompl REQUIRED)
if(NOT OMPL_FOUND)
message(AUTHOR_WARNING,"Open Motion Planning Library not found")
endif(NOT OMPL_FOUND)
find_package(Eigen3 REQUIRED)
if(NOT Eigen3_FOUND)
message(FATAL_ERROR "\n Eigen 3 NOT FOUND \n")
endif()
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES reloPush
# CATKIN_DEPENDS eigen_conversions geometry_msgs message_generation nav_msgs roscpp rospy std_msgs tf tf_conversions
# DEPENDS system_lib
)
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS} ${Eigen_INCLUDE_DIRS} src/pathPlanTools)
#test programs
add_executable(test_dubins "test/test_dubins.cpp")
target_link_libraries(test_dubins ${Boost_LIBRARIES} ${OMPL_LIBRARIES})
add_executable(test_hastar "test/test_hastar.cpp" "src/reloPush/params.cpp" "src/pathPlanTools/path_planning_tools.cpp" "src/pathPlanTools/tf_tools.inl"
"src/pathPlanTools/tf_tools.cpp")
target_link_libraries(test_hastar ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OMPL_LIBRARIES})
add_executable(mocap_tf "src/mocap_tf.cpp"
"src/reloPush/params.cpp"
"src/pathPlanTools/path_planning_tools.cpp"
"src/pathPlanTools/tf_tools.inl"
"src/pathPlanTools/tf_tools.cpp"
"src/reloPush/hexNfloat.cpp")
target_link_libraries(mocap_tf ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${Eigen_LIBRARIES} ${OMPL_LIBRARIES})
add_executable(
${PROJECT_NAME}
"src/reloPush.cpp"
"src/graph_info.cpp"
"src/edge_construction.cpp"
"src/reloPush/movableObject.cpp"
"src/omplTools/fromOMPL.cpp"
"src/omplTools/dubins_tools.cpp"
"src/dijkstra_tools.cpp"
"src/reloPush/color_print.cpp"
"src/reloPush/parse_testdata.cpp"
"src/pathPlanTools/tf_tools.inl"
"src/pathPlanTools/tf_tools.cpp"
"src/pathPlanTools/path_planning_tools.cpp"
"src/reloPush/params.cpp"
"src/reloPush/push_pose_tools.cpp"
"src/reloPush/data_collector.cpp"
"src/reloPush/hexNfloat.cpp"
)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OMPL_LIBRARIES} ${Eigen_LIBRARIES})
install(TARGETS test_dubins
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
)
install(TARGETS test_hastar
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
)
install(TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
)