CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(chomp_generator)

find_package(catkin REQUIRED COMPONENTS roscpp chomp_motion_planner cmake_modules stomp_moveit moveit_ros_move_group)
find_package(Boost REQUIRED thread iostreams)
find_package(Eigen REQUIRED)

add_definitions("-std=c++11")

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES chomp_generator
#  CATKIN_DEPENDS other_catkin_pkg
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIR} ${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})

add_library(${PROJECT_NAME}_cost_functions src/trajectory_avoidance.cpp)
target_link_libraries(${PROJECT_NAME}_cost_functions ${catkin_LIBRARIES})

add_library(chomp_generator
  src/chomp_generator.cpp
  src/stomp_generator.cpp
  src/move_group.cpp
)

target_link_libraries(chomp_generator ${catkin_LIBRARIES} ${PROJECT_NAME}_cost_functions)

## Declare a C++ executable
add_executable(genpaths src/genpaths.cpp)
target_link_libraries(genpaths chomp_generator)

## Specify libraries to link a library or executable target against

#############
## 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
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS chomp_generator chomp_generator_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_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_chomp_generator.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)