CMakeLists.txt

# Copyright 2010, Nicolas Mansard, LAAS-CNRS
#
# This file is part of sot-dyninv.
# sot-dyninv is free software: you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public License
# as published by the Free Software Foundation, either version 3 of
# the License, or (at your option) any later version.
#
# sot-dyninv is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
# General Lesser Public License for more details.  You should have
# received a copy of the GNU Lesser General Public License along with
# sot-dyninv. If not, see <http://www.gnu.org/licenses/>.

CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/lapack.cmake)
INCLUDE(cmake/cpack.cmake)

SET(PROJECT_NAME sot-dyninv)
SET(PROJECT_DESCRIPTION "control by inverse dynamics.")
SET(PROJECT_URL "http://github.com/laas/sot-dyninv")

SET(CUSTOM_HEADER_DIR "${PROJECT_NAME}")

# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)

SET(PKG_CONFIG_ADDITIONAL_VARIABLES
  ${PKG_CONFIG_ADDITIONAL_VARIABLES}
  plugindirname
  plugindir
  )

SETUP_PROJECT()

# Search for dependencies.
ADD_REQUIRED_DEPENDENCY("jrl-mal >= 1.8.0")
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 1.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 1.0.0")
ADD_REQUIRED_DEPENDENCY("soth >= 0.0.1")


# List plug-ins that will be compiled.
SET(libs
	dynamic-integrator
	zmp-estimator
	pseudo-robot-dynamic
	robot-dyn-simu

	controller-pd
	task-dyn-pd
	task-dyn-joint-limits
	solver-op-space

	solver-kine
	task-joint-limits
  )

LIST(APPEND LOGGING_WATCHED_TARGETS ${libs})

SET(headers
	commands-helper.h
	entity-helper.h
	signal-helper.h

	dynamic-integrator.h
	zmp-estimator.h
	pseudo-robot-dynamic.h
	robot-dyn-simu.h

	mal-to-eigen.h
	stack-template.h
	stack-template.t.cpp

	controller-pd.h
	task-dyn-pd.h
	task-dyn-joint-limits.h
	solver-op-space.h

	task-joint-limits.h
	solver-kine.h

)

# Add subdirectories.
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(unitTesting)

SETUP_PROJECT_FINALIZE()
SETUP_PROJECT_CPACK()