69 lines
1.7 KiB
CMake
69 lines
1.7 KiB
CMake
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add_library(ik_solver SHARED
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${CMAKE_CURRENT_SOURCE_DIR}/common/src/ik_solver.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/common/src/urdf_parser.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/pinocchio/src/pinocchio_ik_base.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/pinocchio/src/pinocchio_dls_ik_solver.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/pinocchio/src/pinocchio_qp_ik_solver.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/srs/src/srs_ik_solver.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/lawba/src/joints_limit_analyzer.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/lawba/src/lawba_ik_solver.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/lawba/src/opt_psi_selector.cpp
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)
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target_include_directories(ik_solver PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(ik_solver PUBLIC
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osqp
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OsqpEigen
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pinocchio_default
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pinocchio_parsers
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pinocchio_collision
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cmvr_es::base_motion
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cmvr_es::common
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)
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add_library(cmvr_es::ik_solver ALIAS ik_solver)
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install(TARGETS ik_solver LIBRARY DESTINATION lib)
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# --------------------------------------------------------
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# Unit test
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# --------------------------------------------------------
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add_executable(srs_ik_test
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${CMAKE_CURRENT_SOURCE_DIR}/tests/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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cmvr_es::ik_solver
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cmvr_es::base_motion
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cmvr_es::arm_motion
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cmvr_es::proto
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cmvr_es::mujoco_viewer
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gtest
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gtest_main
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pthread
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glog
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matplot
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)
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add_executable(ik_test
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${CMAKE_CURRENT_SOURCE_DIR}/tests/src/ik_test.cpp
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)
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target_link_libraries(ik_test
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PRIVATE
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cmvr_es::ik_solver
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cmvr_es::mujoco_viewer
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gtest
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gtest_main
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pthread
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glog
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cmvr_es::proto
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)
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