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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(cartesian_planner)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_BUILD_TYPE Release)
# download and build CasADi library
find_package(LAPACK REQUIRED) # required by Ipopt: apt install liblapack-dev
set(VENDOR_PATH "${CMAKE_BINARY_DIR}/vendor")
set(CASADI_URL https://github.com/casadi/casadi/releases/download/3.6.3/casadi-3.6.3.tar.gz)
include(ExternalProject)
ExternalProject_Add(
casadi-external
URL ${CASADI_URL}
PREFIX ${VENDOR_PATH}
UPDATE_COMMAND ""
CMAKE_ARGS
-DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
-DCMAKE_PREFIX_PATH=<INSTALL_DIR>
-DWITH_EXAMPLES=OFF
-DWITH_IPOPT=ON
-DWITH_BUILD_REQUIRED=ON
)
file(MAKE_DIRECTORY "${VENDOR_PATH}/include")
add_library(casadi SHARED IMPORTED)
add_dependencies(casadi casadi-external)
set_target_properties(casadi PROPERTIES
IMPORTED_LOCATION "${VENDOR_PATH}/lib/${CMAKE_SHARED_LIBRARY_PREFIX}casadi${CMAKE_SHARED_LIBRARY_SUFFIX}"
IMPORTED_IMPLIB "${VENDOR_PATH}/lib/${CMAKE_IMPORT_LIBRARY_PREFIX}casadi${CMAKE_IMPORT_LIBRARY_SUFFIX}"
INTERFACE_INCLUDE_DIRECTORIES "${VENDOR_PATH}/include")
find_package(catkin REQUIRED COMPONENTS
roscpp
message_generation
geometry_msgs
)
add_message_files(
FILES
CenterLinePoint.msg
CenterLine.msg
DynamicObstacle.msg
DynamicObstacles.msg
Obstacles.msg
DynamicTrajectoryPoint.msg
)
generate_messages(DEPENDENCIES std_msgs geometry_msgs)
catkin_package(
INCLUDE_DIRS include
LIBRARIES cartesian_planner
CATKIN_DEPENDS roscpp message_runtime
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
option(WITH_HSL "Compile solver with coinhsl" ON)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(HSL)
if(NOT ${HSL_FOUND})
set(WITH_HSL OFF)
endif()
if(WITH_HSL)
add_definitions(-DWITH_HSL)
endif()
set(SRC
src/cartesian_planner/math/aabox2d.cpp
src/cartesian_planner/math/box2d.cpp
src/cartesian_planner/math/line_segment2d.cpp
src/cartesian_planner/math/math_utils.cpp
src/cartesian_planner/math/polygon2d.cpp
src/cartesian_planner/math/vec2d.cpp
src/cartesian_planner/cartesian_planner.cpp
src/cartesian_planner/discretized_trajectory.cpp
src/cartesian_planner/environment.cpp
src/cartesian_planner/dp_planner.cpp
src/cartesian_planner/trajectory_nlp.cpp
src/cartesian_planner/trajectory_optimizer.cpp
src/cartesian_planner/visualization/plot.cpp
src/cartesian_planner/visualization/color.cpp)
add_library(${PROJECT_NAME} ${SRC})
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} casadi)
add_executable(${PROJECT_NAME}_node src/cartesian_planner_node.cpp)
set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_node
${catkin_LIBRARIES}
${PROJECT_NAME}
)