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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(tapir)
# Set make arguments
set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -frounding-math" )
# Compile with Eigen if requested.
if (DEFINED ENV{HAS_EIGEN})
message("-- COMPILING WITH EIGEN!")
add_definitions(-DHAS_EIGEN)
endif()
## Use Boost 1.48.0 from source, for Ubuntu 12.04
if (DEFINED ENV{TAPIR_BOOST_148})
message("-- USING CUSTOM BOOST: $ENV{TAPIR_BOOST_148}")
set(BOOST_ROOT "$ENV{TAPIR_BOOST_148}")
find_package(Boost 1.48.0 REQUIRED)
endif()
## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp roslib std_msgs geometry_msgs tf message_generation laser_geometry)
## Find PCL package
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
add_message_files(
FILES
VrepInfo.msg
)
add_service_files(
FILES
simRosCopyPasteObjects.srv
simRosGetObjectHandle.srv
simRosGetObjectPose.srv
simRosLoadScene.srv
simRosSetObjectPosition.srv
simRosStartSimulation.srv
simRosStopSimulation.srv
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
## Declare a catkin package
catkin_package(
INCLUDE_DIRS src src/options
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS roscpp roslib std_msgs geometry_msgs tf message_runtime laser_geometry)
include_directories(src src/options src/problems/shared/ros ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
add_library(TapirSolver
src/global.cpp
src/solver/ActionNode.cpp
src/solver/Agent.cpp
src/solver/BeliefNode.cpp
src/solver/BeliefTree.cpp
src/solver/Histories.cpp
src/solver/HistoryEntry.cpp
src/solver/HistorySequence.cpp
src/solver/Simulator.cpp
src/solver/Solver.cpp
src/solver/StateInfo.cpp
src/solver/StatePool.cpp
src/solver/abstract-problem/DiscretizedPoint.cpp
src/solver/abstract-problem/Model.cpp
src/solver/abstract-problem/Vector.cpp
src/solver/abstract-problem/heuristics/RolloutHeuristic.cpp
src/solver/belief-estimators/estimators.cpp
src/solver/changes/DefaultHistoryCorrector.cpp
src/solver/indexing/FlaggingVisitor.cpp
src/solver/indexing/RTree.cpp
src/solver/indexing/SpatialIndexVisitor.cpp
src/solver/mappings/actions/continuous_actions.cpp
src/solver/mappings/actions/discretized_actions.cpp
src/solver/mappings/actions/enumerated_actions.cpp
src/solver/mappings/observations/approximate_observations.cpp
src/solver/mappings/observations/discrete_observations.cpp
src/solver/mappings/observations/enumerated_observations.cpp
src/solver/search/MultipleStrategiesExp3.cpp
src/solver/search/search_interface.cpp
src/solver/search/action-choosers/choosers.cpp
src/solver/search/action-choosers/gps_choosers.cpp
src/solver/search/steppers/default_rollout.cpp
src/solver/search/steppers/gps_search.cpp
src/solver/search/steppers/nn_rollout.cpp
src/solver/search/steppers/ucb_search.cpp
src/solver/serialization/TextSerializer.cpp
src/options/inih/ini.c
src/options/option_parser.cpp
src/problems/shared/geometry/Point2D.cpp
src/problems/shared/geometry/Rectangle2D.cpp
src/problems/shared/geometry/RTree.cpp
src/problems/shared/geometry/utilities.cpp
src/problems/shared/geometry/Vector2D.cpp
src/problems/shared/parsers.cpp
src/problems/shared/policy_iteration.cpp
)
add_library(TapirRos
src/problems/shared/ros/VrepHelper.cpp
)
target_link_libraries(TapirRos ${catkin_LIBRARIES} TapirSolver)
add_dependencies(TapirRos tapir_generate_messages_cpp)
add_library(TapirTag
src/problems/tag/TagAction.cpp
src/problems/tag/TagMdpSolver.cpp
src/problems/tag/TagModel.cpp
src/problems/tag/TagObservation.cpp
src/problems/tag/TagState.cpp
src/problems/tag/TagTextSerializer.cpp
)
target_link_libraries(TapirSolver spatialindex ${catkin_LIBRARIES})
add_executable(tag_node src/problems/tag/ros/TagNode.cpp)
target_link_libraries(tag_node ${catkin_LIBRARIES} TapirTag TapirSolver TapirRos)
add_dependencies(tag_node tapir_generate_messages_cpp)