2025-08-21 13:56:39 +08:00
|
|
|
find_package(glog REQUIRED)
|
|
|
|
|
find_package(protobuf REQUIRED)
|
|
|
|
|
find_package(PkgConfig REQUIRED)
|
|
|
|
|
find_package(fcl REQUIRED)
|
|
|
|
|
find_package(OpenCV REQUIRED)
|
|
|
|
|
|
2025-08-22 10:40:49 +08:00
|
|
|
#find_package(pybind11 REQUIRED)
|
2025-08-21 13:56:39 +08:00
|
|
|
|
|
|
|
|
include_directories(${CMAKE_SOURCE_DIR}/include)
|
|
|
|
|
|
|
|
|
|
add_executable(solve_fk solve_fk.cpp)
|
|
|
|
|
target_link_libraries(solve_fk PRIVATE cmvr_es::utils)
|
|
|
|
|
|
|
|
|
|
add_executable(solve_ik solve_ik.cpp)
|
|
|
|
|
target_link_libraries(solve_ik PRIVATE cmvr_es::utils)
|
|
|
|
|
|
|
|
|
|
add_executable(wbc_example wbc_example.cpp)
|
|
|
|
|
target_link_libraries(wbc_example PRIVATE cmvr_es::utils)
|
|
|
|
|
|
|
|
|
|
add_executable(follow_traj_example follow_traj_example.cpp)
|
|
|
|
|
target_link_libraries(follow_traj_example PRIVATE cmvr_es::utils)
|
|
|
|
|
|
|
|
|
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
|
|
|
|
|
|
|
|
|
|
add_executable(moveJ ${CMAKE_CURRENT_SOURCE_DIR}/moveJ.cpp)
|
|
|
|
|
|
|
|
|
|
target_link_libraries(moveJ PRIVATE
|
|
|
|
|
cmvr_es::device::canbus
|
|
|
|
|
cmvr_es::device::ti5motor
|
|
|
|
|
cmvr_es::device::humanoid_robot
|
|
|
|
|
pthread glog::glog
|
|
|
|
|
proto-objects
|
|
|
|
|
ccd
|
|
|
|
|
fcl
|
|
|
|
|
cmvr_es::device_manager
|
|
|
|
|
${OpenCV_LIBS})
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
add_executable(torqueOff ${CMAKE_CURRENT_SOURCE_DIR}/torqueOff.cpp)
|
|
|
|
|
|
|
|
|
|
target_link_libraries(torqueOff PRIVATE
|
|
|
|
|
cmvr_es::device::canbus
|
|
|
|
|
cmvr_es::device::ti5motor
|
|
|
|
|
cmvr_es::device::humanoid_robot
|
|
|
|
|
pthread glog::glog
|
|
|
|
|
proto-objects
|
|
|
|
|
ccd
|
|
|
|
|
fcl
|
|
|
|
|
cmvr_es::device_manager
|
|
|
|
|
${OpenCV_LIBS})
|
|
|
|
|
|
|
|
|
|
add_executable(torqueOn ${CMAKE_CURRENT_SOURCE_DIR}/torqueOn.cpp)
|
|
|
|
|
target_link_libraries(torqueOn PRIVATE
|
|
|
|
|
cmvr_es::device::canbus
|
|
|
|
|
cmvr_es::device::ti5motor
|
|
|
|
|
cmvr_es::device::humanoid_robot
|
|
|
|
|
pthread
|
|
|
|
|
glog::glog
|
|
|
|
|
proto-objects
|
|
|
|
|
ccd
|
|
|
|
|
fcl
|
|
|
|
|
cmvr_es::device_manager
|
|
|
|
|
${OpenCV_LIBS})
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# ---------------- pybind11 模块 ----------------
|
2025-08-22 10:40:49 +08:00
|
|
|
#set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
|
|
|
|
#pybind11_add_module(robot_wrapper ${CMAKE_CURRENT_SOURCE_DIR}/robot_wrapper.cpp)
|
|
|
|
|
#target_link_libraries(robot_wrapper PRIVATE
|
|
|
|
|
# cmvr_es::device::canbus
|
|
|
|
|
# cmvr_es::device::ti5motor
|
|
|
|
|
# cmvr_es::device::humanoid_robot
|
|
|
|
|
# pthread
|
|
|
|
|
# glog::glog
|
|
|
|
|
# proto-objects
|
|
|
|
|
# ccd
|
|
|
|
|
# fcl
|
|
|
|
|
# cmvr_es::device_manager
|
|
|
|
|
# ${OpenCV_LIBS})
|
