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CMakeLists.txt
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CMakeLists.txt
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#
# Copyright 2014 CNRS
# Author: Andrea Del Prete
#
cmake_minimum_required(VERSION 2.8.12)
if(COMMAND cmake_policy)
cmake_policy(SET CMP0003 OLD)
cmake_policy(SET CMP0005 NEW)
cmake_policy(SET CMP0017 NEW)
endif(COMMAND cmake_policy)
include(ExternalProject)
if (CMAKE_BUILD_TYPE STREQUAL "Debug")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror=return-type -Werror=address -Werror=parentheses " )
endif(CMAKE_BUILD_TYPE STREQUAL "Debug")
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/")
SET(PROJECT_NAME testQPsolvers)
SET(PROJECT_DESCRIPTION "Tests of different QP solvers")
SET(PROJECT_URL "http://github.com/andreadelprete/testQPsolvers")
SET(CXX_DISABLE_WERROR True)
SET(CMAKE_VERBOSE_MAKEFILE true)
project(${PROJECT_NAME})
#SETUP_PROJECT()
FIND_PACKAGE(Eigen3 REQUIRED)
FIND_PACKAGE(OpenSoT REQUIRED)
file(GLOB_RECURSE testQPsolvers_INCLUDES "${CMAKE_CURRENT_SOURCE_DIR}/include" *.h)
include_directories(include ${EIGEN3_INCLUDE_DIR})
ADD_LIBRARY(testQPsolvers_libs SHARED
src/testEigenEq.cpp
src/testQpOases.cpp
src/testQuadProgPP.cpp
${testQPsolvers_INCLUDES})
ADD_EXECUTABLE(testQPsolvers src/main.cpp)
#file(GLOB ${PROJECT_NAME}_H "include/testQPsolvers/*.hpp")
#file(GLOB ${PROJECT_NAME}_SRC "main.cpp"
# "testEigenEq.cpp"
# #"testMosek.cpp"
# #"testOOQP.cpp"
# "testQpOases.cpp"
# "testQuadProgPP.cpp")
# Find package qpOASES or build it using ExternalProject
set(qpOASES_SOURCE_DIR "$ENV{ROBOTOLOGY_ROOT}/external/OpenSoT/external/qpOASES-ext/")
set(qpOASES_INCLUDE_DIRS "${qpOASES_SOURCE_DIR}/include")
include_directories("${qpOASES_INCLUDE_DIRS}")
#INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include
#/home/adelpret/devel/yarp_gazebo/src/OOQP-0.99.24/include
#/home/adelpret/devel/yarp_gazebo/src/mosek/7/tools/platform/linux64x86/h
#)
#link_directories(#/home/adelpret/devel/yarp_gazebo/src/OOQP-0.99.24/lib
#/home/adelpret/devel/yarp_gazebo/src/OOQP-0.99.24/extras/MA27
#/home/adelpret/devel/yarp_gazebo/src/mosek/7/tools/platform/linux64x86/bin)
target_link_libraries(testQPsolvers_libs $ENV{ROBOTOLOGY_ROOT}/build/external/OpenSoT/external/src/qpOASES-ext-build/libs/libqpOASES.a
blas gfortran
#ooqpgendense ooqpdense
#ooqpgensparse ooqpsparse
#ooqpgondzio ooqpbase
#libmosek64.so
)
target_link_libraries(testQPsolvers testQPsolvers_libs
$ENV{ROBOTOLOGY_ROOT}/build/external/OpenSoT/external/src/qpOASES-ext-build/libs/libqpOASES.a
blas gfortran
#ooqpgendense ooqpdense
#ooqpgensparse ooqpsparse
#ooqpgondzio ooqpbase
#libmosek64.so
)
set_target_properties(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE CXX)
#PKG_CONFIG_APPEND_CFLAGS(${_Eigen_CFLAGS})
#SETUP_PROJECT_FINALIZE()
#SETUP_PROJECT_CPACK()