add initial code for controlling kinova arm

a2s-institute · Jun 30, 2020 · 09e260b · 09e260b
1 parent 288f163
commit 09e260b
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Showing 3 changed files with 458 additions and 0 deletions.
diff --git a/.gitignore b/.gitignore
@@ -30,3 +30,7 @@
 *.exe
 *.out
 *.app
+
+# generated code folder
+generated
+build
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -12,3 +12,29 @@ endif()
 
 # Activate C++ 11
 set (CMAKE_CXX_STANDARD 11)
+
+# linux specific options
+add_compile_options(-Wall)
+add_compile_options(-Wno-reorder)
+add_definitions(-D_OS_UNIX)
+
+# kortex arm library and include files
+set(EXTRACT_DIR "${PROJECT_SOURCE_DIR}/kinova_libs/extracted")
+set(KORTEX_DIR "${EXTRACT_DIR}/linux_gcc_x86-64")
+
+# unclear what this is used for, needs further investigation
+include_directories(${EXTRACT_DIR}/cxxopts/)
+
+link_libraries(${KORTEX_DIR}/lib/release/libKortexApiCpp.a)
+include_directories(${KORTEX_DIR}/include)
+include_directories(${KORTEX_DIR}/include/client)
+include_directories(${KORTEX_DIR}/include/common)
+include_directories(${KORTEX_DIR}/include/messages)
+include_directories(${KORTEX_DIR}/include/client_stubs)
+
+# user code
+include_directories(${PROJECT_SOURCE_DIR}/generated)
+
+link_libraries(pthread)
+
+add_executable(control_kinova src/control_kinova.cpp)
-Original file line number
+Diff line change
@@ Expand Up / @@ -30,3 +30,7 @@ @@
     *.exe
     *.out
     *.app
+    # generated code folder
+    generated
+    build