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Guilhem Saurel authoredGuilhem Saurel authored
CMakeLists.txt 1.44 KiB
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/test.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/hpp.cmake)
SET(PROJECT_NAME hpp-centroidal-dynamics)
SET(PROJECT_DESCRIPTION
"Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods."
)
SET(CUSTOM_HEADER_DIR "hpp/centroidal-dynamics")
SETUP_HPP_PROJECT()
OPTION(BUILD_PYTHON_INTERFACE "Build the python binding" ON)
IF(BUILD_PYTHON_INTERFACE)
FINDPYTHON()
INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
ADD_REQUIRED_DEPENDENCY("eigenpy >= 1.4.0")
FIND_PACKAGE(Boost COMPONENTS python REQUIRED )
INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIR})
ENDIF(BUILD_PYTHON_INTERFACE)
ADD_REQUIRED_DEPENDENCY("eigen3")
INCLUDE_DIRECTORIES(SYSTEM ${EIGEN3_INCLUDE_DIRS})
SET(CMAKE_MODULE_PATH
${PROJECT_SOURCE_DIR}/cmake/find-external/CDD
${PROJECT_SOURCE_DIR}/cmake/find-external/CLP
${PROJECT_SOURCE_DIR}/cmake/find-external/qpOASES
)
FIND_PACKAGE(CDD REQUIRED)
FIND_PACKAGE(qpOASES REQUIRED)
FIND_PACKAGE(CLP)
IF(CLP_FOUND)
ADD_DEFINITIONS(-DCLP_FOUND)
INCLUDE_DIRECTORIES("${CLP_INCLUDE_DIR}")
ENDIF()
INCLUDE_DIRECTORIES(SYSTEM ${qpOASES_INCLUDE_DIRS})
ADD_SUBDIRECTORY(include/${CUSTOM_HEADER_DIR})
ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(test)
IF(BUILD_PYTHON_INTERFACE)
ADD_SUBDIRECTORY(python)
ENDIF(BUILD_PYTHON_INTERFACE)
SETUP_PROJECT_FINALIZE()