CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(neptune2)

## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  rviz_visual_tools
)
find_package( Eigen3 REQUIRED )

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()


################################################
## 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(
#  INCLUDE_DIRS include
#  LIBRARIES neptune2
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)
set(CMAKE_BUILD_TYPE Release) #From terminal: catkin config -DCMAKE_BUILD_TYPE=Release (or RelWithDebInfo) or Debug

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
)

add_library(entangle_check STATIC src/entangle_check.cpp)
target_include_directories (entangle_check PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(entangle_check PUBLIC ${catkin_LIBRARIES})

add_library(perm_grid_search STATIC src/perm_grid_search.cpp)
target_include_directories (perm_grid_search PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(perm_grid_search PUBLIC ${catkin_LIBRARIES} entangle_check)

add_executable(perm_search_node src/perm_grid_ros.cpp src/perm_grid_search.cpp)
add_dependencies(perm_search_node ${catkin_EXPORTED_TARGETS})
target_link_libraries(perm_search_node ${catkin_LIBRARIES})

add_executable(planning_ros_node src/planning_ros.cpp src/perm_grid_search.cpp src/entangle_check.cpp)
add_dependencies(planning_ros_node ${catkin_EXPORTED_TARGETS})
target_link_libraries(planning_ros_node ${catkin_LIBRARIES})