CMakeLists.txt 7.03 KB
Newer Older
Steve Tonneau's avatar
Steve Tonneau committed
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
# Copyright (c) 2012 CNRS
# Author: Florent Lamiraux
#
# This file is part of hpp-rbprm-corba.
# hpp-rbprm-corba 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.
#
# hpp-rbprm-corba 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
# hpp-rbprm-corba.  If not, see
# <http://www.gnu.org/licenses/>.

# Requires at least CMake 2.6 to configure the package.
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

SET(CXX_DISABLE_WERROR true)

INCLUDE(cmake/base.cmake)
INCLUDE(cmake/idl.cmake)
INCLUDE(cmake/python.cmake)

SET(PROJECT_NAME hpp-rbprm-corba)
SET(PROJECT_DESCRIPTION "Corba server for reachability based planning")
SET(PROJECT_URL "")

Steve Tonneau's avatar
Steve Tonneau committed
31
# Set to 1 for profiling
32
add_definitions(-DPROFILE)
Steve Tonneau's avatar
Steve Tonneau committed
33

Steve Tonneau's avatar
Steve Tonneau committed
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
SET(CUSTOM_HEADER_DIR hpp/corbaserver/rbprm)

SETUP_PROJECT ()

SET(${PROJECT_NAME}_HEADERS
  include/hpp/corbaserver/rbprm/server.hh
)

# Activate hpp-util logging if requested
SET (HPP_DEBUG FALSE CACHE BOOL "trigger hpp-util debug output")
IF (HPP_DEBUG)
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHPP_DEBUG")
ENDIF()

ADD_DOC_DEPENDENCY("hpp-core >= 3")
ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 3")
ADD_REQUIRED_DEPENDENCY("hpp-rbprm")
ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
Steve Tonneau's avatar
Steve Tonneau committed
52
ADD_REQUIRED_DEPENDENCY("hpp-model-urdf >= 3")
53
ADD_REQUIRED_DEPENDENCY("hpp-affordance-corba")
54
ADD_REQUIRED_DEPENDENCY("hpp-util >= 3")
Steve Tonneau's avatar
Steve Tonneau committed
55
56
57
58
59
60

PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
ADD_SUBDIRECTORY(src)

CONFIG_FILES (include/hpp/corbaserver/rbprm/doc.hh)

Steve Tonneau's avatar
Steve Tonneau committed
61
62
63
64
65
66
67
68
SET(CATKIN_PACKAGE_SHARE_DESTINATION
  ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME})

install(FILES
  data/package.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  )
install(FILES
Steve Tonneau's avatar
Steve Tonneau committed
69
  data/urdf/hrp2_trunk.urdf
Steve Tonneau's avatar
Steve Tonneau committed
70
  data/urdf/hrp2_trunk_flexible.urdf
Steve Tonneau's avatar
Steve Tonneau committed
71
  data/urdf/hrp2_rom.urdf
Steve Tonneau's avatar
Steve Tonneau committed
72
73
74
75
  data/urdf/hrp2_larm_rom.urdf
  data/urdf/hrp2_rarm_rom.urdf
  data/urdf/hrp2_lleg_rom.urdf
  data/urdf/hrp2_rleg_rom.urdf
Steve Tonneau's avatar
Steve Tonneau committed
76
  data/urdf/hyq/hyq_trunk.urdf
Steve Tonneau's avatar
Steve Tonneau committed
77
  data/urdf/hyq/hyq_trunk_large.urdf
78
  data/urdf/hyq/hyq_trunk_large_realist.urdf
Steve Tonneau's avatar
Steve Tonneau committed
79
80
81
82
83
  data/urdf/hyq/hyq_rhleg_rom.urdf
  data/urdf/hyq/hyq_rfleg_rom.urdf
  data/urdf/hyq/hyq_lhleg_rom.urdf
  data/urdf/hyq/hyq_lfleg_rom.urdf
  data/urdf/hyq/hyq_rom.urdf
Steve Tonneau's avatar
Steve Tonneau committed
84
85
86
  data/urdf/box_rom.urdf
  data/urdf/box.urdf
  data/urdf/scene.urdf
Steve Tonneau's avatar
Steve Tonneau committed
87
  data/urdf/scene_wall.urdf
Steve Tonneau's avatar
Steve Tonneau committed
88
  data/urdf/truck.urdf
Steve Tonneau's avatar
Steve Tonneau committed
89
  data/urdf/stair_bauzil.urdf
Steve Tonneau's avatar
Steve Tonneau committed
90
  data/urdf/climb.urdf
Steve Tonneau's avatar
Steve Tonneau committed
91
  data/urdf/stepladder.urdf
92
  data/urdf/ground.urdf
Steve Tonneau's avatar
Steve Tonneau committed
93
94
  data/urdf/groundcrouch.urdf
  data/urdf/darpa.urdf
Steve Tonneau's avatar
Steve Tonneau committed
95
  data/urdf/car.urdf
Steve Tonneau's avatar
Steve Tonneau committed
96
  data/urdf/polaris.urdf
Steve Tonneau's avatar
Steve Tonneau committed
97
  #~ data/urdf/scene2.urdf
Pierre Fernbach's avatar
Pierre Fernbach committed
98
99
100
  data/urdf/robot_test/robot_test_lleg_rom.urdf
  data/urdf/robot_test/robot_test_rleg_rom.urdf
  data/urdf/robot_test/robot_test_trunk.urdf
101
102
	data/urdf/ground_bigStep.urdf
	data/urdf/ground_jump_easy.urdf
Pierre Fernbach's avatar
Pierre Fernbach committed
103
	data/urdf/ground_jump_low.urdf
Pierre Fernbach's avatar
Pierre Fernbach committed
104
	data/urdf/ground_jump_bar.urdf
105
	data/urdf/ground_jump_med.urdf
Pierre Fernbach's avatar
Pierre Fernbach committed
106
	data/urdf/ground_with_bridge.urdf
107
	data/urdf/roomWall.urdf
Pierre Fernbach's avatar
Pierre Fernbach committed
108
109
    data/urdf/sideWall.urdf
    data/urdf/sideWall_long.urdf
Pierre Fernbach's avatar
Pierre Fernbach committed
110
	data/urdf/downSlope.urdf
Pierre Fernbach's avatar
Pierre Fernbach committed
111
	data/urdf/slalom.urdf
Steve Tonneau's avatar
Steve Tonneau committed
112
113
114
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
  )
install(FILES
Steve Tonneau's avatar
Steve Tonneau committed
115
  data/srdf/hrp2_trunk.srdf
Steve Tonneau's avatar
Steve Tonneau committed
116
  data/srdf/hrp2_trunk_flexible.srdf
Steve Tonneau's avatar
Steve Tonneau committed
117
  data/srdf/hrp2_rom.srdf
Steve Tonneau's avatar
Steve Tonneau committed
118
119
120
121
  data/srdf/hrp2_larm_rom.srdf
  data/srdf/hrp2_rarm_rom.srdf
  data/srdf/hrp2_lleg_rom.srdf
  data/srdf/hrp2_rleg_rom.srdf
Steve Tonneau's avatar
Steve Tonneau committed
122
  data/srdf/hyq/hyq_trunk.srdf
Steve Tonneau's avatar
Steve Tonneau committed
123
  data/srdf/hyq/hyq_trunk_large.srdf
124
  data/srdf/hyq/hyq_trunk_large_realist.srdf
Steve Tonneau's avatar
Steve Tonneau committed
125
126
127
128
129
  data/srdf/hyq/hyq_rhleg_rom.srdf
  data/srdf/hyq/hyq_rfleg_rom.srdf
  data/srdf/hyq/hyq_lhleg_rom.srdf
  data/srdf/hyq/hyq_lfleg_rom.srdf
  data/srdf/hyq/hyq_rom.srdf
Steve Tonneau's avatar
Steve Tonneau committed
130
131
132
  data/srdf/box_rom.srdf
  data/srdf/box.srdf
  data/srdf/scene.srdf
Steve Tonneau's avatar
Steve Tonneau committed
133
  data/srdf/scene_wall.srdf
Steve Tonneau's avatar
Steve Tonneau committed
134
  data/srdf/truck.srdf
Steve Tonneau's avatar
Steve Tonneau committed
135
  data/srdf/stair_bauzil.srdf
Steve Tonneau's avatar
Steve Tonneau committed
136
  data/srdf/climb.srdf
Steve Tonneau's avatar
Steve Tonneau committed
137
  data/srdf/stepladder.srdf
138
  data/srdf/ground.srdf
Steve Tonneau's avatar
Steve Tonneau committed
139
140
  data/srdf/groundcrouch.srdf
  data/srdf/darpa.srdf
Steve Tonneau's avatar
Steve Tonneau committed
141
  data/srdf/car.srdf
Steve Tonneau's avatar
Steve Tonneau committed
142
  data/srdf/polaris.srdf
Steve Tonneau's avatar
Steve Tonneau committed
143
  #~ data/srdf/scene2.srdf
Pierre Fernbach's avatar
Pierre Fernbach committed
144
145
146
  data/srdf/robot_test/robot_test_lleg_rom.srdf
  data/srdf/robot_test/robot_test_rleg_rom.srdf
  data/srdf/robot_test/robot_test_trunk.srdf
147
148
	data/srdf/ground_bigStep.srdf
	data/srdf/ground_jump_easy.srdf
Pierre Fernbach's avatar
Pierre Fernbach committed
149
	data/srdf/ground_jump_low.srdf
Pierre Fernbach's avatar
Pierre Fernbach committed
150
	data/srdf/ground_jump_bar.srdf
151
	data/srdf/ground_jump_med.srdf
Pierre Fernbach's avatar
Pierre Fernbach committed
152
	data/srdf/ground_with_bridge.srdf
153
	data/srdf/roomWall.srdf
Pierre Fernbach's avatar
Pierre Fernbach committed
154
155
	data/srdf/sideWall.srdf
	data/srdf/sideWall_long.srdf
Pierre Fernbach's avatar
Pierre Fernbach committed
156
	data/srdf/downSlope.srdf
Pierre Fernbach's avatar
Pierre Fernbach committed
157
	data/srdf/slalom.srdf
Steve Tonneau's avatar
Steve Tonneau committed
158
159
160
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
  )
install(FILES
Steve Tonneau's avatar
Steve Tonneau committed
161
162
	data/meshes/darpa.stl
	data/meshes/darpareduced.stl
Steve Tonneau's avatar
Steve Tonneau committed
163
	data/meshes/car.stl
Steve Tonneau's avatar
Steve Tonneau committed
164
	data/meshes/car_simple.stl
Steve Tonneau's avatar
Steve Tonneau committed
165
166
	data/meshes/ground.stl
	data/meshes/ground_table.stl
Steve Tonneau's avatar
Steve Tonneau committed
167
	data/meshes/hrp2_trunk.stl
Steve Tonneau's avatar
Steve Tonneau committed
168
169
	data/meshes/hrp2_trunk_body.stl
	data/meshes/hrp2_trunk_torso.stl
Steve Tonneau's avatar
Steve Tonneau committed
170
171
	data/meshes/hrp2_trunk_body_view.dae
	data/meshes/hrp2_trunk_torso_view.dae
Steve Tonneau's avatar
Steve Tonneau committed
172
	data/meshes/hrp2_rom.stl
Steve Tonneau's avatar
Steve Tonneau committed
173
174
175
176
	data/meshes/hrp2_larm_rom.stl
	data/meshes/hrp2_rarm_rom.stl
	data/meshes/hrp2_lleg_rom.stl
	data/meshes/hrp2_rleg_rom.stl
177
	data/meshes/ground.stl
Steve Tonneau's avatar
Steve Tonneau committed
178
179
	data/meshes/box.stl
	data/meshes/box_rom.stl
Steve Tonneau's avatar
Steve Tonneau committed
180
	data/meshes/robot_box.stl
Steve Tonneau's avatar
Steve Tonneau committed
181
182
	data/meshes/chair_simple.stl
	data/meshes/ground.stl
Steve Tonneau's avatar
Steve Tonneau committed
183
	data/meshes/groundcrouch.stl
Steve Tonneau's avatar
Steve Tonneau committed
184
185
	data/meshes/truck.stl
	data/meshes/truck_vision.stl
Steve Tonneau's avatar
Steve Tonneau committed
186
	data/meshes/stair_bauzil.stl
Steve Tonneau's avatar
Steve Tonneau committed
187
	data/meshes/stair_bauzil_reduced.stl
Steve Tonneau's avatar
Steve Tonneau committed
188
	data/meshes/climb.stl
Steve Tonneau's avatar
Steve Tonneau committed
189
	data/meshes/stepladder.stl
Steve Tonneau's avatar
Steve Tonneau committed
190
	data/meshes/chair.stl
Steve Tonneau's avatar
Steve Tonneau committed
191
	data/meshes/car.stl
192
193
194
195
  data/meshes/polaris.stl
  data/meshes/polaris_reduced.stl
	data/meshes/ground_bigStep.stl
	data/meshes/ground_jump_easy.stl
196
	data/meshes/ground_jump_easyStart.stl
Pierre Fernbach's avatar
Pierre Fernbach committed
197
	data/meshes/ground_jump_easyStart2.stl
198
	data/meshes/ground_jump_easyGoal.stl
Pierre Fernbach's avatar
Pierre Fernbach committed
199
	data/meshes/ground_jump_lowGoal.stl
Pierre Fernbach's avatar
Pierre Fernbach committed
200
	data/meshes/ground_jump_bar.stl
201
	data/meshes/ground_jump_med.stl
Pierre Fernbach's avatar
Pierre Fernbach committed
202
	data/meshes/ground_with_bridge.stl
203
	data/meshes/roomWall.stl
Pierre Fernbach's avatar
Pierre Fernbach committed
204
205
	data/meshes/sideWall.stl
	data/meshes/sideWall_long.stl
Pierre Fernbach's avatar
Pierre Fernbach committed
206
207
	data/meshes/downSlope.stl
	data/meshes/downSlope2.stl
Pierre Fernbach's avatar
Pierre Fernbach committed
208
	data/meshes/slalom.stl
Steve Tonneau's avatar
Steve Tonneau committed
209
210
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
  )
Steve Tonneau's avatar
Steve Tonneau committed
211
install(FILES
Steve Tonneau's avatar
Steve Tonneau committed
212
	data/meshes/hyq/hyq_all.stl
213
	data/meshes/hyq/hyq_all_realist.stl
Steve Tonneau's avatar
Steve Tonneau committed
214
	data/meshes/hyq/hyq_trunk.stl
Steve Tonneau's avatar
Steve Tonneau committed
215
	data/meshes/hyq/hyq_trunk_large.stl
Pierre Fernbach's avatar
Pierre Fernbach committed
216
	data/meshes/hyq/hyq_trunk_large2.stl
217
	data/meshes/hyq/hyq_trunk_large3.stl
Pierre Fernbach's avatar
Pierre Fernbach committed
218
	data/meshes/hyq/hyq_trunk_large4.stl
Steve Tonneau's avatar
Steve Tonneau committed
219
220
221
222
223
224
225
	data/meshes/hyq/hyq_rom.stl
	data/meshes/hyq/hyq_rhleg_rom.stl
	data/meshes/hyq/hyq_rfleg_rom.stl
	data/meshes/hyq/hyq_lhleg_rom.stl
	data/meshes/hyq/hyq_lfleg_rom.stl
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/hyq
  )
Steve Tonneau's avatar
Steve Tonneau committed
226

Pierre Fernbach's avatar
Pierre Fernbach committed
227
228
229
install(FILES
	data/meshes/robot_test/robot_trunk_view.stl
	data/meshes/robot_test/robot_trunk.stl
230
231
	data/meshes/robot_test/Lleg_rom.stl
	data/meshes/robot_test/Rleg_rom.stl
Pierre Fernbach's avatar
Pierre Fernbach committed
232
233
234
235
236
237
238
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/robot_test
  )
  
install(DIRECTORY data/hyq_description
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/../
  )
  
Steve Tonneau's avatar
Steve Tonneau committed
239
240
SETUP_PROJECT_FINALIZE()