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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.2)
project (parallel_search)
add_compile_options(-std=c++17)
list(APPEND CMAKE_PREFIX_PATH /opt/drake)
# list(APPEND CMAKE_PREFIX_PATH /opt/ros/noetic)
set(MUJOCO_INCLUDE_DIR "${CMAKE_SOURCE_DIR}/third_party/mujoco-2.3.2/include")
set(MUJOCO_LIB_DIR "${CMAKE_SOURCE_DIR}/third_party/mujoco-2.3.2/lib")
set(fmt_DIR /home/shield/mambaforge/lib/cmake/fmt)
set(spdlog_DIR /usr/lib/x86_64-linux-gnu/cmake/spdlog)
find_package(OpenCV REQUIRED)
find_package(SBPL REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(drake REQUIRED)
find_package(catkin REQUIRED)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
# set(CMAKE_BUILD_TYPE Debug)
set(CMAKE_CXX_FLAGS "-g")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
SET(CMAKE_C_FLAGS_RELEASE "-O3")
include_directories(include
${SBPL_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${drake_INCLUDE_DIRS}
${MUJOCO_INCLUDE_DIR})
include_directories(/opt/drake/include)
include_directories(/home/shield/mambaforge/envs/ros_noetic/include)
link_directories(${SBPL_LIBRARY_DIRS})
link_directories(${MUJOCO_LIB_DIR})
#link_directories(/opt/drake/lib)
catkin_package(
INCLUDE_DIRS
include
examples
LIBRARIES
manip_moveit_interface
CATKIN_DEPENDS
DEPENDS)
set(SOURCES
src/common/State.cpp
src/common/Edge.cpp
src/common/insat/InsatEdge.cpp
src/planners/Planner.cpp
src/planners/BFSPlanner.cpp
src/planners/WastarPlanner.cpp
src/planners/PwastarPlanner.cpp
src/planners/PasePlanner.cpp
src/planners/EpasePlanner.cpp
src/planners/GepasePlanner.cpp
src/planners/MplpPlanner.cpp
src/planners/RrtPlanner.cpp
src/planners/RrtConnectPlanner.cpp
src/planners/insat/PinsatPlanner.cpp
src/planners/insat/InsatPlanner.cpp
src/planners/insat/opt/DummyOpt.cpp
src/planners/insat/opt/BSplineOpt.cpp
)
add_library(manip_moveit_interface STATIC
# examples/manipulation/utils.cpp
examples/manipulation/MoveitInterface.cpp
examples/manipulation/ManipulationActions.cpp
examples/manipulation/bfs3d.cpp
${SOURCES})
target_link_libraries(manip_moveit_interface
${catkin_LIBRARIES}
${SBPL_LIBRARIES}
${drake_LIBRARIES}
mujoco
pthread)
# EXECUTABLES
add_executable(run_robot_nav_2d
examples/robot_nav_2d/run_robot_nav_2d.cpp
examples/robot_nav_2d/RobotNav2dActions.cpp
${SOURCES})
target_link_libraries(run_robot_nav_2d
${OpenCV_LIBRARIES}
${SBPL_LIBRARIES}
${drake_LIBRARIES}
pthread)
add_executable(run_insat_nav_2d
examples/insat/robot_nav_2d/run_insat_nav_2d.cpp
examples/insat/robot_nav_2d/InsatNav2dActions.cpp
${SOURCES})
target_link_libraries(run_insat_nav_2d
${OpenCV_LIBRARIES}
${SBPL_LIBRARIES}
${drake_LIBRARIES}
pthread)
add_executable(run_manipulation
examples/manipulation/run_manipulation.cpp
examples/manipulation/ManipulationActions.cpp
examples/manipulation/bfs3d.cpp
${SOURCES})
target_link_libraries(run_manipulation
mujoco
${drake_LIBRARIES}
pthread)
add_executable(drake_test
examples/insat/opt/DrakeTest.cpp)
target_link_libraries(drake_test
mujoco
${drake_LIBRARIES})
add_executable(domain_template
examples/domain_template/domain_template.cpp
examples/domain_template/ActionsTemplate.cpp
${SOURCES})
target_link_libraries(domain_template
${drake_LIBRARIES}
pthread)
add_executable(collfilter
examples/manipulation/collision_filter_finder.cpp)
install(DIRECTORY include/common include/planners
DESTINATION /usr/local/include/${PROJECT_NAME})
install(DIRECTORY examples/manipulation # source directory
DESTINATION /usr/local/include/${PROJECT_NAME} # target directory
FILES_MATCHING # install only matched files
PATTERN "*.hpp") # select header files
install(DIRECTORY examples/manipulation # source directory
DESTINATION /usr/local/include/${PROJECT_NAME} # target directory
FILES_MATCHING # install only matched files
PATTERN "*.h") # select header files
install(TARGETS manip_moveit_interface
EXPORT ${PROJECT_NAME}Config
ARCHIVE DESTINATION /usr/local/lib/${PROJECT_NAME}
LIBRARY DESTINATION /usr/local/lib/${PROJECT_NAME}
RUNTIME DESTINATION /usr/local/bin/${PROJECT_NAME})
export(TARGETS manip_moveit_interface
NAMESPACE ${PROJECT_NAME}::
FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
install(EXPORT ${PROJECT_NAME}Config
DESTINATION /usr/local/lib/cmake/${PROJECT_NAME}
NAMESPACE ${PROJECT_NAME}::)