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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(moveit_trajectory_processor)
if(NOT CMAKE_BUILD_TYPE)
#set(CMAKE_BUILD_TYPE "Debug")
set(CMAKE_BUILD_TYPE "Release")
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(CMAKE_BUILD_TYPE MATCHES "Release")
add_compile_options(-funroll-loops -Wall -Ofast -flto) #-O3
endif()
if(CMAKE_BUILD_TYPE MATCHES "Debug")
add_compile_options(-Wall -g -Og)
endif()
endif()
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(trajectories_processors_lib REQUIRED)
find_package(catkin REQUIRED COMPONENTS
roscpp
moveit_ros_planning
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS roscpp moveit_ros_planning
DEPENDS trajectories_processors_lib
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
# Declare a C++ library
add_library(${PROJECT_NAME}
src/moveit_trajectory_processor.cpp
)
target_link_libraries(${PROJECT_NAME} PUBLIC
${catkin_LIBRARIES}
trajectories_processors_lib::trajectories_processors_lib
)
# Install
install(DIRECTORY include/
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/)
install(
TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)