kinematics-check/CMakeLists.txt at master · ikrets/kinematics-check · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
cmake_minimum_required(VERSION 2.8.3)
project(kinematics_check)

set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wno-deprecated-declarations -Wno-zero-as-null-pointer-constant -fno-inline-functions -fpermissive")

add_definitions(-DEIGEN_DONT_ALIGN)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  roslib
  std_msgs
  message_generation
  geometry_msgs
  shape_msgs
  tf
  tf_conversions
  eigen_conversions
)

message(${PROJECT_SOURCE_DIR})
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/contact-motion-planning/Modules/")

add_subdirectory(contact-motion-planning EXCLUDE_FROM_ALL)
set(ROBLIB_INCLUDE_DIRS contact-motion-planning/src)

find_package(Boost REQUIRED)
find_package(OpenGL REQUIRED)
find_package(Qt4 COMPONENTS QtCore QtGui QtOpenGL)
include(${QT_USE_FILE})

find_package(Bullet REQUIRED)
find_package(SoQt REQUIRED)
find_package(LibXml2 REQUIRED)
find_package(Coin REQUIRED)

enable_testing()


add_service_files(
   FILES
   CheckKinematics.srv
   CerrtExample.srv
 )

add_message_files(
  FILES
  BoundingBoxWithPose.msg
  AllowedCollision.msg
)


## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs
   shape_msgs
   geometry_msgs
 )


catkin_package(
  CATKIN_DEPENDS message_runtime
)


if(QT_FOUND AND SOQT_FOUND AND BULLET_FOUND ) # FALSE) #
        set(SRCS
		src/MainWindow.cpp
		src/kinematics_check.cpp
		src/Viewer.cpp
                src/ifco_scene.cpp
                src/service_worker.cpp
              src/jacobian_controller.cpp
              src/soma_cerrt.cpp
    src/workspace_samplers.cpp
    src/workspace_checkers.cpp
    src/collision_types.cpp)

	qt4_wrap_cpp(
		MOC_SRCS
		src/Viewer.h
                src/service_worker.h
                src/ifco_scene.h
                src/jacobian_controller.h
		OPTIONS
		-DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED
	)

	add_executable(
		kinematics_check
                ${SRCS}
		${MOC_SRCS}
	)


	target_compile_definitions(
		kinematics_check
		PUBLIC
		${QT_DEFINITIONS}
		${SOQT_DEFINITIONS}
		${COIN_DEFINITIONS}
	)


	target_include_directories(
		kinematics_check
		PUBLIC
		${Boost_INCLUDE_DIR}
		${catkin_INCLUDE_DIRS}
		${OPENGL_INCLUDE_DIR}
		${QT_INCLUDES}
		${SOQT_INCLUDE_DIRS}
		${BULLET_INCLUDE_DIRS}
		${LIBXML2_INCLUDE_DIRS}
		${COIN_INCLUDE_DIRS}
		${ROBLIB_INCLUDE_DIRS}
	)


  target_link_libraries(
                kinematics_check
		rlplan
		rlkin
		rlsg
                ${catkin_LIBRARIES}
                ${ROS_LIBRARIES}
                ${catkin_LIBRARIES}
                ${OPENGL_LIBRARIES}
                ${QT_LIBRARIES}
                ${SOQT_LIBRARIES}
                ${BULLET_LIBRARIES}
                ${LIBXML2_LIBRARIES}
		${COIN_LIBRARIES}
        )

add_dependencies(kinematics_check kinematics_check_generate_messages)

endif(QT_FOUND AND SOQT_FOUND AND BULLET_FOUND)