77 lines
1.8 KiB
CMake
77 lines
1.8 KiB
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(ik_solver STATIC
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ik_solver/src/ik_solver.cpp
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ik_solver/src/ik_solver_creator.cpp
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opt_psi_limit_bias_solver/src/bias_srs_ik_slover.cpp
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opt_psi_limit_bias_solver/src/joints_limit_analyzer.cpp
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opt_psi_limit_bias_solver/src/opt_psi_limit_bias_solver.cpp
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opt_psi_limit_bias_solver/src/opt_psi_selector.cpp
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)
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target_include_directories(ik_solver PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(ik_solver PRIVATE
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Eigen3::Eigen
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OsqpEigen::OsqpEigen
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${TINYXML2_LIBRARIES}
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fcl
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cmvr_es::data_center
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)
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add_library(cmvr_es::ik_solver ALIAS ik_solver)
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# --------------------------------------------------------
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# Unit test
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# --------------------------------------------------------
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find_package(glog 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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include_directories(
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${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include
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)
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include_directories(
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${CMAKE_SOURCE_DIR}/third_party/manif/0.0.5/include
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)
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link_directories(
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${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib
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)
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add_executable(srs_ik_test
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${CMAKE_CURRENT_SOURCE_DIR}/opt_psi_limit_bias_solver/src/srs_ik_test.cpp
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)
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target_link_libraries(srs_ik_test
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PRIVATE
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gtest
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gtest_main
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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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${OpenCV_LIBS}
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Eigen3::Eigen
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OsqpEigen::OsqpEigen
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cmvr_es::utils
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cmvr_es::data_center
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cmvr_es::ik_solver
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)
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