86 lines
2.1 KiB
CMake
86 lines
2.1 KiB
CMake
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#find_package(VISP REQUIRED)
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# 如果报 relocation ... can not be used when making a shared object; recompile with -fPIC ，说明SRC 中包含了test文件 ，test
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# 中链接 -lgtest -lgtest_main ，这是静态库,导致 libcontroller.so 被迫依赖 gtest。
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# 所以 add_library(controller SHARED
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# src/controller_creator.cpp
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# src/pid_controller.cpp
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# ❌ 不要把 src/controller_test.cpp 放进来
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#) 其他动态库类似
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file(GLOB SRC
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${CMAKE_CURRENT_SOURCE_DIR}/src/pid_controller.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/src/ibvs_controller.cpp
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)
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add_library(controller SHARED ${SRC})
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target_include_directories(controller PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(controller PUBLIC
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protobuf
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cmvr_es::ik_solver
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cmvr_es::device::humanoid_robot
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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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ccd
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fcl
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cmvr_es::device_manager
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visp_vs
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visp_visual_features
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visp_vision
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visp_tt_mi
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visp_tt
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visp_me
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visp_mbt
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visp_klt
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visp_dnn_tracker
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visp_blob
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visp_sensor
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visp_robot
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visp_io
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visp_imgproc
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visp_gui
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visp_detection
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visp_core
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visp_ar
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pinocchio_default
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pinocchio_parsers
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)
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add_library(cmvr_es::controller ALIAS controller)
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install(TARGETS controller LIBRARY DESTINATION lib)
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# --------------------------------------------------------
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# Unit test
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# --------------------------------------------------------
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find_package(realsense2 REQUIRED)
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add_executable(controller_test
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${CMAKE_CURRENT_SOURCE_DIR}/src/controller_test.cpp
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)
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target_link_libraries(controller_test
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PRIVATE
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cmvr_es::utils
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cmvr_es::ik_solver
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cmvr_es::planner
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cmvr_es::proto
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cmvr_es::mujoco_viewer
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cmvr_es::controller
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cmvr_es::device::mujoco_camera
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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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${VISP_LIBRARIES}
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realsense2::realsense2
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)
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