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#
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# Copyright (c) 2010, 2011, 2012, 2013, 2014, 2015, 2016 CNRS
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# Authors: Florent Lamiraux, Joseph Mirabel
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#
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#
# This file is part of hpp-core
# hpp-core 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-core 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-core  If not, see
# <http://www.gnu.org/licenses/>.
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SET(LIBRARY_NAME ${PROJECT_NAME})

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SET(${LIBRARY_NAME}_SOURCES
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astar.hh
bi-rrt-planner.cc
collision-validation.cc
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configuration-shooter/uniform.cc
configuration-shooter/gaussian.cc
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config-projector.cc
config-validations.cc
connected-component.cc
constraint.cc
constraint-set.cc
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continuous-validation.cc
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continuous-validation/initializer.cc
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continuous-validation/body-pair-collision.cc
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continuous-validation/dichotomy.cc
continuous-validation/solid-solid-collision.cc
continuous-validation/progressive.cc
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diffusing-planner.cc
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distance/reeds-shepp.cc
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distance-between-objects.cc
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  dubins.hh
  dubins.cc
  dubins-path.cc
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extracted-path.hh
interpolated-path.cc
joint-bound-validation.cc
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path-validations.cc
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path-validation/discretized.cc
path-validation/discretized-collision-checking.cc
path-validation/discretized-joint-bound.cc
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  nearest-neighbor/basic.hh #
  nearest-neighbor/basic.cc #
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  # nearest-neighbor/k-d-tree.cc #
  # nearest-neighbor/k-d-tree.hh #
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  node.cc #
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  parameter.cc #
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  path.cc #
  path-optimizer.cc #
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  path-optimization/linear-constraint.cc #
  path-optimization/spline-gradient-based-abstract.cc #
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  path-optimization/partial-shortcut.cc #
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  path-optimization/random-shortcut.cc
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  path-optimization/simple-time-parameterization.cc#
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  path-planner.cc #
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  path-planner/k-prm-star.cc
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  path-vector.cc #
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  path/spline.cc
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  path/hermite.cc
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  plan-and-optimize.cc #
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  plugin.cc # TODO : addObstacle
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  problem.cc # TODO : addObstacle
  problem-solver.cc # TODO : addObstacle
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  path-projector.cc
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  path-projector/dichotomy.cc #
  path-projector/global.cc #
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  path-projector/progressive.cc #
  path-projector/recursive-hermite.cc
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  path-projector.cc #
  parser/roadmap-factory.cc #
  problem-target/goal-configurations.cc #
  problem-target/task-target.cc #
  reeds-shepp-path.cc
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  relative-motion.cc  
  kinodynamic-path.cc
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  kinodynamic-oriented-path.cc
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  steering-method/steering-kinodynamic.cc
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  roadmap.cc
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  steering-method/reeds-shepp.cc # TODO access type of joint
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  steering-method/car-like.cc
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  steering-method/constant-curvature.cc
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  steering-method/dubins.cc
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  steering-method/snibud.cc
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  steering-method/spline.cc
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  straight-path.cc
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  interpolated-path.cc
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  visibility-prm-planner.cc
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  weighed-distance.cc
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  kinodynamic-distance.cc
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  path-projector/progressive.cc
  path-projector/dichotomy.cc
  path-projector/global.cc
  path-projector.cc
  parser/roadmap-factory.cc
  problem-target/goal-configurations.cc
  problem-target/task-target.cc
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  )
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INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/src)
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ADD_LIBRARY(${LIBRARY_NAME}
  SHARED
  ${${LIBRARY_NAME}_SOURCES}
  )
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PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-pinocchio)
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PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-util)
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PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-statistics)
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PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-constraints)
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TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CMAKE_DL_LIBS})
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INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
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# GPL licenced part
ADD_LIBRARY(${LIBRARY_NAME}-gpl
  SHARED
  path-optimization/quadratic-program.cc
  path-optimization/spline-gradient-based.cc)
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PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-pinocchio)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-util)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-statistics)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME}-gpl hpp-constraints)
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TARGET_LINK_LIBRARIES(${LIBRARY_NAME}-gpl ${LIBRARY_NAME})

INSTALL(TARGETS ${LIBRARY_NAME}-gpl DESTINATION lib)