24 lines
650 B
CMake
24 lines
650 B
CMake
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find_package(Eigen3 3.3 REQUIRED NO_MODULE)
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find_package(osqp REQUIRED)
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find_package(OsqpEigen REQUIRED)
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find_package(PkgConfig REQUIRED)
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find_package(fcl REQUIRED)
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pkg_check_modules(TINYXML2 REQUIRED tinyxml2)
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include_directories(${TINYXML2_INCLUDE_DIRS})
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add_library(planner STATIC
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joint_space_planner/src/joint_space_planner.cpp
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joint_space_planner/src/joint_space_planner_creator.cpp
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)
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target_include_directories(planner PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(planner PRIVATE
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Eigen3::Eigen
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OsqpEigen::OsqpEigen
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${TINYXML2_LIBRARIES}
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fcl
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)
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add_library(cmvr_es::planner ALIAS planner)
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