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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(RC)
add_definitions(-DTIXML_USE_STL)
include_directories(
include
urdf/include
exceptions/include
random_numbers/include
srdfdom/include
robot_model/include
robot_state/include
transforms/include
kinematics_base/include
kinematic_constraints/include
collision_detection/include
collision_detection_fcl/include
robot_trajectory/include
trajectory_processing/include
planning_scene/include/
class_loader/include
planning_interface/include
planning_request_adapter/include
rdf_loader/include
robot_model_loader/include
kinematics_plugin_loader/include
pluginlib/include
geometric_shapes/include
eigen_conversions/include
rostime/include
profiler/include
kdl_kinematics_plugin/include
constraint_samplers/include
constraint_sampler_manager_loader/include
resource_retriever/include
planning_pipeline/include
#tf/include/
#tf2/include/
)
link_directories(
urdf/lib
)
set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
add_subdirectory(urdf)
add_subdirectory(random_numbers)
add_subdirectory(srdfdom)
add_subdirectory(robot_model)
add_subdirectory(exceptions)
add_subdirectory(kinematics_base)
add_subdirectory(robot_state)
add_subdirectory(transforms)
add_subdirectory(collision_detection)
add_subdirectory(collision_detection_fcl)
add_subdirectory(kinematic_constraints)
add_subdirectory(robot_trajectory)
add_subdirectory(trajectory_processing)
add_subdirectory(planning_scene)
add_subdirectory(class_loader)
add_subdirectory(pluginlib)
add_subdirectory(planning_interface)
add_subdirectory(planning_request_adapter)
add_subdirectory(rdf_loader)
add_subdirectory(robot_model_loader)
add_subdirectory(kinematics_plugin_loader)
add_subdirectory(resource_retriever)
add_subdirectory(geometric_shapes)
add_subdirectory(eigen_conversions)
add_subdirectory(rostime)
add_subdirectory(profiler)
add_subdirectory(kdl_kinematics_plugin)
add_subdirectory(constraint_samplers)
add_subdirectory(ompl)
add_subdirectory(constraint_sampler_manager_loader)
add_subdirectory(planning_pipeline)
add_subdirectory(planning_request_adapter_plugins)
#add_subdirectory(tf)
#add_subdirectory(tf2)
add_executable(model_test kinematic_model.cpp)
target_link_libraries(model_test tinyxml moveit_robot_model_loader moveit_robot_model moveit_robot_state
urdfdom_model urdfdom_world moveit_kdl_kinematics_plugin kdl_parser console_bridge)
add_executable(planner_test motion_planning.cpp)
target_link_libraries(planner_test tinyxml moveit_robot_model_loader moveit_robot_model moveit_robot_state
urdfdom_model urdfdom_world kdl_parser console_bridge moveit_collision_detection
moveit_planning_scene moveit_planning_interface moveit_ompl_planner_plugin moveit_ompl_interface
geometric_shapes)
add_executable(pipeline_test pipeline_planing.cpp)
target_link_libraries(pipeline_test tinyxml moveit_robot_model_loader moveit_robot_model moveit_robot_state
urdfdom_model urdfdom_world kdl_parser console_bridge moveit_collision_detection
moveit_planning_scene moveit_planning_interface moveit_ompl_planner_plugin moveit_ompl_interface
geometric_shapes moveit_planning_pipeline moveit_default_planning_request_adapter_plugins
moveit_planning_request_adapter)