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CMakeLists.txt
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CMakeLists.txt
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#-------------------------------------------------------------------------------
# Software License Agreement (BSD License)
#
# Copyright (c) 2014, Péter Fankhauser, Christian Gehring, Stelian Coros
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Autonomous Systems Lab nor ETH Zurich
# nor the names of its contributors may be used to endorse or
# promote products derived from this software without specific
# prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#-------------------------------------------------------------------------------
# Author(s): Peter Fankhauser, Christian Gehring
# Date : Sep 9, 2013
cmake_minimum_required(VERSION 2.8.3)
project(ooqp_eigen_interface)
set(CMAKE_VERBOSE_MAKEFILE on)
set(CMAKE_CXX_FLAGS "-fPIC")
add_definitions(-std=c++11)
find_package(Eigen3 REQUIRED)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
# set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/home/zuzu/Motion_planning/hw5/src/ooqp_eigen_interface/cmake")
MESSAGE( STATUS "CMAKE_MODULE_PATH: " ${CMAKE_MODULE_PATH} )
find_package(ooqp REQUIRED)
find_package(catkin REQUIRED)
catkin_package(
INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIR}
LIBRARIES ooqpei
DEPENDS
)
include_directories(include)
include_directories(${EIGEN3_INCLUDE_DIR})
include_directories(${catkin_INCLUDE_DIRS})
add_library(ooqpei
src/OoqpEigenInterface.cpp
src/QuadraticProblemFormulation.cpp
)
#add_dependencies(ooqpei)
target_link_libraries(ooqpei
${OOQP_LIBRARIES}
blas ma27 gfortran
${catkin_LIBRARIES}
)
install(TARGETS ooqpei
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
catkin_add_gtest(test_ooqpei
test/test_main.cpp
test/OoqpEigenInterface_test.cpp
test/QuadraticProblemFormulation_test.cpp
)
target_link_libraries(test_ooqpei
ooqpei
${OOQP_LIBRARIES}
${catkin_LIBRARIES}
)