CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(perceptive_mpc)

add_compile_options(-std=c++14)
# Added by Nick
#set(CMAKE_BUILD_TYPE Debug)

set(PACKAGE_DEPENDENCIES
    roslib
    tf
    geometry_msgs
    ocs2_comm_interfaces
    ocs2_core
    ocs2_robotic_tools
    ocs2_ddp
    kindr
    kindr_ros
    voxblox
    voxblox_ros
)

find_package(catkin REQUIRED COMPONENTS
    ${PACKAGE_DEPENDENCIES}
    message_generation
)

#find_package(Torch REQUIRED)

find_package(Boost REQUIRED COMPONENTS
  system
  filesystem
  )

find_package(ompl REQUIRED)

add_message_files(
  FILES
  WrenchPoseStamped.msg
  WrenchPoseTrajectory.msg
)

generate_messages(
  DEPENDENCIES
  geometry_msgs
)

catkin_package(
  INCLUDE_DIRS
    include
  LIBRARIES
    perceptive_mpc
  CATKIN_DEPENDS
    ${PACKAGE_DEPENDENCIES}
    message_runtime
  DEPENDS
    Boost ompl
)

###########
## Build ##
###########


include_directories(
  include
  ${catkin_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS}
)

add_library(${PROJECT_NAME}_explicit_instantiations
  src/ExplicitTemplateInstantiations.cpp)
add_dependencies(${PROJECT_NAME}_explicit_instantiations ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_explicit_instantiations
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
  dl
  )

add_library(${PROJECT_NAME}
  src/SystemDynamics.cpp
  src/costs/QuadraticEndeffectorTrackingCost.cpp
  src/costs/BaseAvoidanceCost.cpp
  src/costs/VoxbloxCost.cpp
  src/costs/PointsOnRobot.cpp
  src/costs/StabilitySoftConstraint.cpp
  src/OperatingPoint.cpp
  src/Conversions.cpp
  src/kinematics/KinematicsInterface.cpp
  src/kinematics/mabi/MabiKinematics.cpp
  src/kinematics/ur10/UR10Kinematics.cpp
  src/kinematics/ur5/UR5Kinematics.cpp
  src/kinematics/ur3/UR3Kinematics.cpp
  src/EsdfCachingServer.cpp
  src/AdmittanceReferenceModule.cpp
  #Added by Nick
  ompl_planner/VoxbloxStateValidityChecker.cpp
  ompl_planner/EndEffectorGoal.cpp
        )
add_dependencies(${PROJECT_NAME}
        ${${PROJECT_NAME}_EXPORTED_TARGETS}
        ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}
        ${PROJECT_NAME}_explicit_instantiations
        ${catkin_LIBRARIES}
        ${Boost_LIBRARIES}
        ${OMPL_LIBRARIES}
        dl
        )

add_library(${PROJECT_NAME}_example
        example/PerceptiveMpcInterface.cpp
        )
add_dependencies(${PROJECT_NAME}_example
        ${${PROJECT_NAME}_EXPORTED_TARGETS}
        ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_example
        ${PROJECT_NAME}
        ${PROJECT_NAME}_explicit_instantiations
        ${catkin_LIBRARIES}
        ${Boost_LIBRARIES}
        dl
        )

add_executable(${PROJECT_NAME}_kinematic_simulation
        example/kinematic_simulation_node.cpp
        example/KinematicSimulation.cpp)
add_dependencies(${PROJECT_NAME}_kinematic_simulation
        ${${PROJECT_NAME}_EXPORTED_TARGETS}
        ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_kinematic_simulation
        ${PROJECT_NAME}
        ${PROJECT_NAME}_explicit_instantiations
        ${PROJECT_NAME}_example
        ${catkin_LIBRARIES}
        ${Boost_LIBRARIES}
        dl
        )

# @Nick added own node
add_executable(${PROJECT_NAME}_ompl_planner
        ompl_planner/ompl_planner_node.cpp
        ompl_planner/OmplPlanner.cpp)
add_dependencies(${PROJECT_NAME}_ompl_planner
        ${${PROJECT_NAME}_EXPORTED_TARGETS}
        ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_ompl_planner
        ${PROJECT_NAME}
        ${PROJECT_NAME}_explicit_instantiations
        ${PROJECT_NAME}_example
        ${catkin_LIBRARIES}
        ${Boost_LIBRARIES}
        ${OMPL_LIBRARIES}
        dl)

# @Nick added own node
add_executable(${PROJECT_NAME}_write_oc_grid
        ompl_planner/write_oc_grid_node.cpp
        ompl_planner/WriteOcGrid.cpp
        )
add_dependencies(${PROJECT_NAME}_write_oc_grid
        ${${PROJECT_NAME}_EXPORTED_TARGETS}
        ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_write_oc_grid
        ${PROJECT_NAME}
        ${PROJECT_NAME}_explicit_instantiations
        ${PROJECT_NAME}_example
        ${catkin_LIBRARIES}
        ${Boost_LIBRARIES}
        ${OMPL_LIBRARIES}
        dl)

add_executable(${PROJECT_NAME}_data_generator
        ompl_planner/train_data_generator.cpp)
add_dependencies(${PROJECT_NAME}_ompl_planner
        ${${PROJECT_NAME}_EXPORTED_TARGETS}
        ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_data_generator
        ${PROJECT_NAME}
        ${PROJECT_NAME}_explicit_instantiations
        ${PROJECT_NAME}_example
        ${catkin_LIBRARIES}
        ${Boost_LIBRARIES}
        ${OMPL_LIBRARIES}
        dl)

#############
## Install ##
#############

install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)