CMakeLists.txt

cmake_minimum_required(VERSION 3.10)

# Project's name
project(hrm VERSION 1.0.0 LANGUAGES CXX)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread")

# set the default build type
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
  set(CMAKE_BUILD_TYPE Release)
endif()
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake/static_analysis)
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake/sanitizers)

# Include directories
include_directories(${PROJECT_SOURCE_DIR})
include_directories(${PROJECT_SOURCE_DIR}/include)
include_directories(${PROJECT_SOURCE_DIR}/src)

find_package(static_analysis)
find_package(sanitizers)

# Setup directory for loading resources and storing result data files
set(RESOURCES_PATH ${PROJECT_SOURCE_DIR}/resources)
set(CONFIG_PATH ${PROJECT_SOURCE_DIR}/config)
file(MAKE_DIRECTORY ${CONFIG_PATH})
message(STATUS "Configuration file path created in: ${CONFIG_PATH}")

set(RESULT_PATH ${PROJECT_SOURCE_DIR}/result)
set(BENCHMARK_DATA_PATH ${RESULT_PATH}/benchmark)
set(SOLUTION_DETAILS_PATH ${RESULT_PATH}/details)
file(MAKE_DIRECTORY ${BENCHMARK_DATA_PATH}
                    ${SOLUTION_DETAILS_PATH})
message(STATUS "Results storage path created in: ${RESULT_PATH}")

configure_file(${PROJECT_SOURCE_DIR}/include/hrm/config.h.in ${PROJECT_SOURCE_DIR}/include/hrm/config.h)

# Dependency packages
find_package(OMPL REQUIRED)
include_directories(${OMPL_INCLUDE_DIRS})
link_libraries(${OMPL_LIBRARIES})

find_package(FCL 0.6 REQUIRED)
include_directories(${FCL_INCLUDE_DIRS})
link_libraries(${FCL_LIBRARIES})

find_package(CCD REQUIRED)
include_directories(${CCD_INCLUDE_DIRS})
link_libraries(${CCD_LIBRARIES})

find_package(CGAL 5.0 REQUIRED)
include_directories(${CGAL_INCLUDE_DIRS})

find_package(GMP REQUIRED)
include_directories(${GMP_INCLUDE_DIRS})
link_libraries(${GMP_LIBRARIES})

find_package(orocos_kdl)
include_directories(${orocos_kdl_INCLUDE_DIRS})
link_libraries(${orocos_kdl_LIBRARIES})

# kdl_parser is OPTIONAL for now, we have provided a lite-version of KDL_parser
find_package(kdl_parser QUIET)
if(kdl_parser_FOUND)
    message(STATUS "Found KDL_Parser from ROS dependencies")
    link_libraries(${kdl_parser_LIBRARIES})
    include_directories(${kdl_parser_INCLUDE_DIRS})
else()
    message(STATUS "ROS version of KDL_Parser NOT FOUND, will use pure CMake version")
    add_subdirectory(${PROJECT_SOURCE_DIR}/src/util/external/kdl_parser)
endif()

find_package(Eigen3 3.3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIRS})

find_package(Boost 1.71.0 REQUIRED)
include_directories(${Boost_INCLUDE_DIRS})

find_package(Threads)

find_package(GTest REQUIRED)
include_directories(${GTEST_INCLUDE_DIRS})
link_libraries(${GTEST_LIBRARIES})

# Subdirectories
add_subdirectory(src)

set(BUILD_TESTING "" ON)
enable_testing()
add_subdirectory(test)

add_subdirectory(demo)

# Installation
include(CMakePackageConfigHelpers)
write_basic_package_version_file(hrmConfigVersion.cmake
                                 VERSION ${PACKAGE_VERSION}
                                 COMPATIBILITY AnyNewerVersion)

install(EXPORT hrmTargets
        FILE hrmTargets.cmake
        NAMESPACE hrm::
        DESTINATION lib/cmake/hrm)

configure_file(hrmConfig.cmake.in hrmConfig.cmake @ONLY)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/hrmConfig.cmake"
              "${CMAKE_CURRENT_BINARY_DIR}/hrmConfigVersion.cmake"
        DESTINATION lib/cmake/hrm)

# Install library headers
install(DIRECTORY ${CMAKE_SOURCE_DIR}/include/hrm
        CONFIGURATIONS Release
        DESTINATION "${CMAKE_INSTALL_PREFIX}/include")

# Uninstall target
if(NOT TARGET uninstall)
    configure_file(
        "${CMAKE_CURRENT_SOURCE_DIR}/cmake/CMakeUninstall.cmake.in"
        "${CMAKE_CURRENT_BINARY_DIR}/CMakeUninstall.cmake"
        IMMEDIATE @ONLY)

    add_custom_target(uninstall
        COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/CMakeUninstall.cmake)
endif()