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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8)
project(RRT_Star_Test)
IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release)
ENDIF()
MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wfatal-errors -Wno-write-strings -Wno-unused-result -Wformat=0 -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wfatal-errors -Wno-write-strings -Wno-unused-result -Wformat=0 -O3 -march=native")
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
find_package(OpenCV 4 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
endif()
endif()
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
add_library(${PROJECT_NAME} SHARED
src/RRT.cc
)
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${PROJECT_SOURCE_DIR}/spline/lib/libSPLINE.so
)
# Build examples
# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
add_executable(RRT_Star_Test_run
src/RRT_star_new.cpp)
target_link_libraries(RRT_Star_Test_run ${PROJECT_NAME})
add_executable(simple_RRT
src/RRT_simple.cpp)
target_link_libraries(simple_RRT ${PROJECT_NAME})
add_executable(RRT_Star
src/RRT_Planner.cc)
target_link_libraries(RRT_Star ${PROJECT_NAME})