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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(auvsl_dynamics)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
geometry_msgs
message_generation
auvsl_control
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
CATKIN_DEPENDS roscpp rospy std_msgs auvsl_control message_runtime
)
###########
## Build ##
###########
include_directories(
include/auvsl_dynamics
include/auvsl_dynamics/generated
/usr/include/eigen3
${catkin_INCLUDE_DIRS}
)
add_executable(verify_hybrid_model_node
src/verify_hybrid_model.cpp
src/VerifyModel.cpp
src/HybridDynamics.cpp
src/utils.cpp
src/TireNetwork.cpp
src/CombinedModel.cpp
src/NNJackalModel.cpp
src/BekkerModel.cpp
src/generated/forward_dynamics.cpp
src/generated/inertia_properties.cpp
src/generated/inverse_dynamics.cpp
src/generated/jacobians.cpp
src/generated/jsim.cpp
src/generated/miscellaneous.cpp
src/generated/transforms.cpp
)
target_link_libraries(verify_hybrid_model_node ${catkin_LIBRARIES})
set_target_properties(verify_hybrid_model_node PROPERTIES COMPILE_FLAGS "-O3 -DNDEBUG -march=native -Wall -Wno-undef")
add_library(${PROJECT_NAME}
src/verify_hybrid_model.cpp
src/VerifyModel.cpp
src/HybridDynamics.cpp
src/utils.cpp
src/TireNetwork.cpp
src/CombinedModel.cpp
src/NNJackalModel.cpp
src/BekkerModel.cpp
src/generated/forward_dynamics.cpp
src/generated/inertia_properties.cpp
src/generated/inverse_dynamics.cpp
src/generated/jacobians.cpp
src/generated/jsim.cpp
src/generated/miscellaneous.cpp
src/generated/transforms.cpp
)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-O3 -DNDEBUG -march=native -Wall -Wno-undef")
install(
TARGETS ${PROJECT_NAME}
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}
)