CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(traj_gennav)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
set(CMAKE_VERBOSE_MAKEFILE "false")
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

set(ADDITIONAL_CXX_FLAG "-Wall -O3 -march=native")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CXX_FLAG}")
## 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
  trajectory_msgs
  geometry_msgs
  roscpp
  rospy
  std_msgs
  mav_msgs
  message_generation
  ## geodetic_utils
  rviz_visual_tools
)

find_package(Eigen3 REQUIRED)
find_package(cmake_modules REQUIRED)

set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})

include_directories(
	include
    ${catkin_INCLUDE_DIRS} 
    ${Eigen3_INCLUDE_DIRS} 
)

## Generate services in the 'srv' folder
add_service_files(
  FILES
  ExecutePath.srv
  ReadPathFromFile.srv
)

generate_messages(
  DEPENDENCIES
  std_msgs  # Or other packages containing msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################


## 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
)

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

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

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/tcc.cpp
# )

# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(
  ${PROJECT_NAME}_node src/traj_gennav_node.cpp
  include/traj_gennav/poly_traj_generator.cpp
  include/traj_gennav/Vec3f.cpp
  include/traj_gennav/Plane.cpp)


# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}_node
   ${catkin_LIBRARIES}
 )