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CMakeLists.txt
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CMAKE_MINIMUM_REQUIRED(VERSION 3.4)
if(WIN32)
set(CMAKE_TOOLCHAIN_FILE C:/vcpkg/scripts/buildsystems/vcpkg.cmake)
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
endif()
PROJECT(dqrobotics)
set (CMAKE_CXX_STANDARD 11)
INCLUDE_DIRECTORIES(include)
if(UNIX AND NOT APPLE)
FIND_PACKAGE(Eigen3 REQUIRED)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
ADD_COMPILE_OPTIONS(-Werror=return-type -Wall -Wextra -Wmissing-declarations -Wredundant-decls -Woverloaded-virtual)
endif()
if(APPLE)
INCLUDE_DIRECTORIES(
/usr/local/include/
/usr/local/include/eigen3
# Most recent versions of brew install here
/opt/homebrew/include
/opt/homebrew/include/eigen3)
ADD_COMPILE_OPTIONS(-Werror=return-type -Wall -Wextra -Wmissing-declarations -Wredundant-decls -Woverloaded-virtual)
endif()
if(WIN32)
ADD_DEFINITIONS(-D_USE_MATH_DEFINES)
FIND_PACKAGE(Eigen3 CONFIG REQUIRED)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
endif()
################################################################
# DEFINE AND INSTALL LIBRARY AND INCLUDE FOLDER
################################################################
ADD_LIBRARY(dqrobotics SHARED
src/DQ.cpp
src/internal/_dq_linesegment.cpp
src/utils/DQ_Geometry.cpp
src/utils/DQ_LinearAlgebra.cpp
src/utils/DQ_Math.cpp
src/robot_modeling/DQ_CooperativeDualTaskSpace.cpp
src/robot_modeling/DQ_Kinematics.cpp
src/robot_modeling/DQ_SerialManipulator.cpp
src/robot_modeling/DQ_SerialManipulatorDH.cpp
src/robot_modeling/DQ_SerialManipulatorMDH.cpp
src/robot_modeling/DQ_SerialManipulatorDenso.cpp
src/robot_modeling/DQ_MobileBase.cpp
src/robot_modeling/DQ_HolonomicBase.cpp
src/robot_modeling/DQ_DifferentialDriveRobot.cpp
src/robot_modeling/DQ_WholeBody.cpp
src/robot_modeling/DQ_SerialWholeBody.cpp
src/robot_control/DQ_KinematicController.cpp
src/robot_control/DQ_PseudoinverseController.cpp
src/robot_control/DQ_NumericalFilteredPseudoInverseController.cpp
src/robot_control/DQ_KinematicConstrainedController.cpp
src/robot_control/DQ_QuadraticProgrammingController.cpp
src/robot_control/DQ_ClassicQPController.cpp
src/robots/Ax18ManipulatorRobot.cpp
src/robots/BarrettWamArmRobot.cpp
src/robots/ComauSmartSixRobot.cpp
src/robots/KukaLw4Robot.cpp
src/robots/KukaYoubotRobot.cpp
src/robots/FrankaEmikaPandaRobot.cpp
)
SET_TARGET_PROPERTIES(dqrobotics
PROPERTIES PUBLIC_HEADER
include/dqrobotics/DQ.h
)
INSTALL(TARGETS dqrobotics
# https://stackoverflow.com/questions/21592361/cmake-install-is-not-installing-libraries-on-windows
RUNTIME DESTINATION "bin"
LIBRARY DESTINATION "lib"
ARCHIVE DESTINATION "lib"
PUBLIC_HEADER DESTINATION "include/dqrobotics"
PERMISSIONS OWNER_READ OWNER_WRITE GROUP_READ WORLD_READ)
################################################################
# INSTALL HEADERS IN SUBFOLDERS
################################################################
# utils headers
INSTALL(FILES
include/dqrobotics/utils/DQ_Math.h
include/dqrobotics/utils/DQ_Geometry.h
include/dqrobotics/utils/DQ_LinearAlgebra.h
include/dqrobotics/utils/DQ_Constants.h
DESTINATION "include/dqrobotics/utils")
# robot_modeling headers
INSTALL(FILES
include/dqrobotics/robot_modeling/DQ_CooperativeDualTaskSpace.h
include/dqrobotics/robot_modeling/DQ_Kinematics.h
include/dqrobotics/robot_modeling/DQ_SerialManipulator.h
include/dqrobotics/robot_modeling/DQ_SerialManipulatorDH.h
include/dqrobotics/robot_modeling/DQ_SerialManipulatorMDH.h
include/dqrobotics/robot_modeling/DQ_SerialManipulatorDenso.h
include/dqrobotics/robot_modeling/DQ_MobileBase.h
include/dqrobotics/robot_modeling/DQ_HolonomicBase.h
include/dqrobotics/robot_modeling/DQ_DifferentialDriveRobot.h
include/dqrobotics/robot_modeling/DQ_WholeBody.h
include/dqrobotics/robot_modeling/DQ_SerialWholeBody.h
DESTINATION "include/dqrobotics/robot_modeling")
# robot_control headers
INSTALL(FILES
include/dqrobotics/robot_control/DQ_KinematicController.h
include/dqrobotics/robot_control/DQ_PseudoinverseController.h
include/dqrobotics/robot_control/DQ_NumericalFilteredPseudoInverseController.h
include/dqrobotics/robot_control/DQ_KinematicConstrainedController.h
include/dqrobotics/robot_control/DQ_QuadraticProgrammingController.h
include/dqrobotics/robot_control/DQ_ClassicQPController.h
DESTINATION "include/dqrobotics/robot_control")
# robots headers
INSTALL(FILES
include/dqrobotics/robots/Ax18ManipulatorRobot.h
include/dqrobotics/robots/BarrettWamArmRobot.h
include/dqrobotics/robots/ComauSmartSixRobot.h
include/dqrobotics/robots/KukaLw4Robot.h
include/dqrobotics/robots/KukaYoubotRobot.h
include/dqrobotics/robots/FrankaEmikaPandaRobot.h
DESTINATION "include/dqrobotics/robots")
# solvers headers
INSTALL(FILES
include/dqrobotics/solvers/DQ_QuadraticProgrammingSolver.h
DESTINATION "include/dqrobotics/solvers")
################################################################
# INSTALL SOURCE FILES (So that the debugger can find them)
################################################################
# base folder
INSTALL(FILES
src/DQ.cpp
DESTINATION "src/dqrobotics")
# internal folder
INSTALL(FILES
src/internal/_dq_linesegment.cpp
DESTINATION "src/dqrobotics/internal")
# utils folder
INSTALL(FILES
src/utils/DQ_Geometry.cpp
src/utils/DQ_LinearAlgebra.cpp
src/utils/DQ_Math.cpp
DESTINATION "src/dqrobotics/utils")
# robot_control folder
INSTALL(FILES
src/robot_control/DQ_KinematicController.cpp
src/robot_control/DQ_PseudoinverseController.cpp
src/robot_control/DQ_NumericalFilteredPseudoInverseController.cpp
src/robot_control/DQ_KinematicConstrainedController.cpp
src/robot_control/DQ_QuadraticProgrammingController.cpp
src/robot_control/DQ_ClassicQPController.cpp
DESTINATION "src/dqrobotics/robot_control")
# robot_modeling folder
INSTALL(FILES
src/robot_modeling/DQ_SerialManipulator.cpp
src/robot_modeling/DQ_SerialManipulatorDH.cpp
src/robot_modeling/DQ_SerialManipulatorMDH.cpp
src/robot_modeling/DQ_SerialManipulatorDenso.cpp
src/robot_modeling/DQ_CooperativeDualTaskSpace.cpp
src/robot_modeling/DQ_Kinematics.cpp
src/robot_modeling/DQ_MobileBase.cpp
src/robot_modeling/DQ_DifferentialDriveRobot.cpp
src/robot_modeling/DQ_WholeBody.cpp
src/robot_modeling/DQ_SerialWholeBody.cpp
DESTINATION "src/dqrobotics/robot_modeling")
# robots folder
INSTALL(FILES
src/robots/Ax18ManipulatorRobot.cpp
src/robots/BarrettWamArmRobot.cpp
src/robots/ComauSmartSixRobot.cpp
src/robots/KukaLw4Robot.cpp
src/robots/KukaYoubotRobot.cpp
src/robots/FrankaEmikaPandaRobot.cpp
DESTINATION "src/dqrobotics/robots")