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CMakeLists.txt
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#
# Copyright (c) 2010, 2011 CNRS
# Authors: Steve Tonneau
#
#
# This file is part of hpp-rbprm
# hpp-rbprm is free software: you can redistribute it
# and/or modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation, either version
# 3 of the License, or (at your option) any later version.
#
# hpp-core is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# hpp-core If not, see
# <http://www.gnu.org/licenses/>.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
SET(CXX_DISABLE_WERROR TRUE)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/cpack.cmake)
SET(PROJECT_NAME hpp-rbprm)
SET(PROJECT_DESCRIPTION
"Implementation of RB-PRM planner using hpp."
)
SET(PROJECT_URL "")
# Set to 1 for profiling
# add_definitions(-DPROFILE)
# Where to compile shared objects
SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
SETUP_PROJECT()
ADD_REQUIRED_DEPENDENCY("hpp-core >= 3")
ADD_REQUIRED_DEPENDENCY("hpp-util >= 3")
ADD_REQUIRED_DEPENDENCY("hpp-statistics")
ADD_REQUIRED_DEPENDENCY("hpp-fcl")
ADD_REQUIRED_DEPENDENCY("hpp-constraints >= 3")
ADD_REQUIRED_DEPENDENCY("hpp-model >= 3")
ADD_REQUIRED_DEPENDENCY("hpp-model-urdf >= 3")
ADD_REQUIRED_DEPENDENCY("bezier-com-traj")
ADD_REQUIRED_DEPENDENCY("centroidal-dynamics-lib")
FIND_PACKAGE( OpenMP REQUIRED)
find_package(Boost)
find_package(Boost 1.54.0 COMPONENTS filesystem system REQUIRED)
if(OPENMP_FOUND)
message("OPENMP FOUND")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endif()
# remove flag that makes all warnings into errors
MESSAGE( STATUS "CMAKE_CXX_FLAGS: " ${CMAKE_CXX_FLAGS} )
# Declare Headers
SET(${PROJECT_NAME}_HEADERS
include/hpp/rbprm/rbprm-device.hh
include/hpp/rbprm/rbprm-fullbody.hh
include/hpp/rbprm/rbprm-limb.hh
include/hpp/rbprm/projection/projection.hh
include/hpp/rbprm/reports.hh
include/hpp/rbprm/contact_generation/algorithm.hh
include/hpp/rbprm/contact_generation/contact_generation.hh
include/hpp/rbprm/contact_generation/reachability.hh
include/hpp/rbprm/contact_generation/kinematics_constraints.hh
include/hpp/rbprm/interpolation/rbprm-path-interpolation.hh
include/hpp/rbprm/interpolation/time-constraint-helper.hh
include/hpp/rbprm/interpolation/time-constraint-helper.inl
include/hpp/rbprm/interpolation/time-constraint-steering.hh
include/hpp/rbprm/interpolation/limb-rrt.hh
include/hpp/rbprm/interpolation/com-rrt.hh
include/hpp/rbprm/interpolation/com-rrt-shooter.hh
include/hpp/rbprm/interpolation/time-constraint-shooter.hh
include/hpp/rbprm/interpolation/limb-rrt-shooter.hh
include/hpp/rbprm/interpolation/time-constraint-utils.hh
include/hpp/rbprm/interpolation/time-constraint-path-validation.hh
include/hpp/rbprm/interpolation/time-constraint-path.hh
include/hpp/rbprm/interpolation/com-trajectory.hh
include/hpp/rbprm/interpolation/polynom-trajectory.hh
include/hpp/rbprm/interpolation/time-dependant.hh
include/hpp/rbprm/interpolation/interpolation-constraints.hh
include/hpp/rbprm/interpolation/spline/effector-rrt.hh
include/hpp/rbprm/interpolation/spline/bezier-path.hh
include/hpp/rbprm/rbprm-shooter.hh
include/hpp/rbprm/rbprm-state.hh
include/hpp/rbprm/rbprm-validation.hh
include/hpp/rbprm/rbprm-validation-report.hh
include/hpp/rbprm/rbprm-path-validation.hh
include/hpp/rbprm/rbprm-rom-validation.hh
include/hpp/rbprm/sampling/sample.hh
include/hpp/rbprm/sampling/sample-db.hh
include/hpp/rbprm/sampling/heuristic-tools.hh
include/hpp/rbprm/sampling/heuristic.hh
include/hpp/rbprm/sampling/analysis.hh
include/hpp/rbprm/stability/stability.hh
include/hpp/rbprm/stability/support.hh
include/hpp/rbprm/tools.hh
include/hpp/rbprm/ik-solver.hh
include/hpp/rbprm/rbprm-profiler.hh
include/utils/Stdafx.hh
include/utils/stop-watch.hh
# include/hpp/rbprm/planner/parabola-planner.hh
include/hpp/rbprm/planner/dynamic-planner.hh
include/hpp/rbprm/planner/parabola-path.hh
include/hpp/rbprm/planner/timed-parabola-path.hh
include/hpp/rbprm/planner/steering-method-parabola.hh
include/hpp/rbprm/planner/rbprm-node.hh
include/hpp/rbprm/planner/rbprm-roadmap.hh
include/hpp/rbprm/planner/rbprm-steering-kinodynamic.hh
include/utils/algorithms.h
include/hpp/rbprm/dynamic/dynamic-validation.hh
include/hpp/rbprm/dynamic/dynamic-path-validation.hh
include/hpp/rbprm/planner/random-shortcut-dynamic.hh
include/hpp/rbprm/planner/oriented-path-optimizer.hh
)
# Activate hpp-util logging if requested
SET (HPP_DEBUG FALSE CACHE BOOL "trigger hpp-util debug output")
IF (HPP_DEBUG)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHPP_DEBUG")
ENDIF()
# Activate hpp-util logging if requested
SET (HPP_BENCHMARK FALSE CACHE BOOL "trigger hpp-util benchmark output")
IF (HPP_BENCHMARK)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHPP_ENABLE_BENCHMARK")
ENDIF()
ADD_SUBDIRECTORY(src)
#ADD_SUBDIRECTORY(tools)
ADD_SUBDIRECTORY(tests)
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_CPACK()