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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10)
project(kr_ilqr_optimizer)
## Compile as C++11, supported in ROS Kinetic and newer
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
## 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
kr_planning_msgs
roscpp
eigen_conversions
visualization_msgs
altro
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(Eigen3 3.4 REQUIRED) # for ilqr stuff
catkin_package(
INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
LIBRARIES kr_ilqr_optimizer altro_test_utils
CATKIN_DEPENDS kr_planning_msgs roscpp visualization_msgs altro
DEPENDS # we should put fmt and eigen here
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
include
${catkin_INCLUDE_DIRS}
)
add_library(altro_test_utils src/test_utils.cpp src/finitediff.cpp src/quaternion_utils.cpp)
target_link_libraries(altro_test_utils
PUBLIC
${catkin_LIBRARIES}
Eigen3::Eigen
)
target_compile_definitions(altro_test_utils
PUBLIC
ALTRO_TEST_DIR="/home/yifei/Documents/optimal_ctrl/altro/test"
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_library(kr_ilqr_optimizer src/spline_trajectory_sampler.cpp)
target_link_libraries(kr_ilqr_optimizer PUBLIC altro_test_utils)
## Specify libraries to link a library or executable target against
add_executable(sampler_pub src/run_sampler.cpp)
target_link_libraries(sampler_pub
PUBLIC kr_ilqr_optimizer) # WHY DOES IT NEED FMT!!!
#
# target_link_libraries(kr_ilqr_optimizer PRIVATE )
#############
## 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
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${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_kr_ilqr_optimizer.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)