80 lines
2.2 KiB
CMake
80 lines
2.2 KiB
CMake
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find_package(glog REQUIRED)
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find_package(protobuf REQUIRED)
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find_package(PkgConfig REQUIRED)
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find_package(fcl REQUIRED)
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find_package(OpenCV REQUIRED)
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find_package(pybind11 REQUIRED)
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include_directories(${CMAKE_SOURCE_DIR}/include)
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add_executable(solve_fk solve_fk.cpp)
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target_link_libraries(solve_fk PRIVATE cmvr_es::utils)
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add_executable(solve_ik solve_ik.cpp)
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target_link_libraries(solve_ik PRIVATE cmvr_es::utils)
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add_executable(wbc_example wbc_example.cpp)
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target_link_libraries(wbc_example PRIVATE cmvr_es::utils)
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add_executable(follow_traj_example follow_traj_example.cpp)
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target_link_libraries(follow_traj_example PRIVATE cmvr_es::utils)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
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add_executable(moveJ ${CMAKE_CURRENT_SOURCE_DIR}/moveJ.cpp)
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target_link_libraries(moveJ PRIVATE
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cmvr_es::device::canbus
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cmvr_es::device::ti5motor
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cmvr_es::device::humanoid_robot
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pthread glog::glog
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proto-objects
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ccd
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fcl
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cmvr_es::device_manager
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${OpenCV_LIBS})
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add_executable(torqueOff ${CMAKE_CURRENT_SOURCE_DIR}/torqueOff.cpp)
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target_link_libraries(torqueOff PRIVATE
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cmvr_es::device::canbus
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cmvr_es::device::ti5motor
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cmvr_es::device::humanoid_robot
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pthread glog::glog
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proto-objects
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ccd
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fcl
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cmvr_es::device_manager
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${OpenCV_LIBS})
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add_executable(torqueOn ${CMAKE_CURRENT_SOURCE_DIR}/torqueOn.cpp)
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target_link_libraries(torqueOn PRIVATE
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cmvr_es::device::canbus
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cmvr_es::device::ti5motor
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cmvr_es::device::humanoid_robot
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pthread
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glog::glog
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proto-objects
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ccd
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fcl
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cmvr_es::device_manager
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${OpenCV_LIBS})
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# ---------------- pybind11 模块 ----------------
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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pybind11_add_module(robot_wrapper ${CMAKE_CURRENT_SOURCE_DIR}/robot_wrapper.cpp)
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target_link_libraries(robot_wrapper PRIVATE
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cmvr_es::device::canbus
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cmvr_es::device::ti5motor
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cmvr_es::device::humanoid_robot
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pthread
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glog::glog
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proto-objects
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ccd
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fcl
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cmvr_es::device_manager
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${OpenCV_LIBS})
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