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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.13.2)
project(wecook)
set(CMAKE_CXX_STANDARD 14)
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
find_package(catkin REQUIRED
COMPONENTS
tf
tf_conversions
image_transport
cv_bridge
message_generation)
include_directories(${catkin_INCLUDE_DIRS})
add_message_files(
FILES
TaskMsg.msg
ActionMsg.msg
SceneMsg.msg
ObjectMsg.msg
ContainingMsg.msg
)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(
CATKIN_DEPENDS message_runtime std_msgs)
find_package(DART 6.6.2 REQUIRED)
include_directories(${DART_INCLUDE_DIRS})
find_package(tf_conversions REQUIRED)
include_directories(${tf_conversions_INCLUDE_DIRS})
find_package(aikido 0.3.0 REQUIRED
COMPONENTS
common
constraint
control
control_ros
distance
io
perception
planner
planner_kunzretimer
planner_ompl
planner_parabolic
planner_vectorfield
planner_kunzretimer
robot
rviz
statespace)
include_directories(${aikido_INCLUDE_DIRS})
find_package(libada REQUIRED)
include_directories(${libada_INCLUDE_DIRS})
find_package(pr_tsr REQUIRED)
include_directories(${pr_tsr_INCLUDE_DIRS})
find_package(Boost COMPONENTS program_options REQUIRED)
include_directories(${Boost_INCLUDE_DIRS})
include_directories(include)
add_subdirectory("src/external/hauser_parabolic_smoother")
add_executable(wecook
src/main.cpp
src/TaskManager.cpp
include/wecook/TaskManager.h
include/wecook/Task.h
include/wecook/Action.h
include/wecook/Agent.h
include/wecook/World.h
src/World.cpp
include/wecook/Object.h
include/wecook/utils.h
include/wecook/ActionPlanner.h
include/wecook/tsr/bowl.h
include/wecook/tsr/fork.h
include/wecook/tsr/knife.h
include/wecook/tsr/plate.h
include/wecook/tsr/pot.h
include/wecook/tsr/spoon.h
src/ActionPlanner.cpp
include/wecook/tsr/food.h
include/wecook/tsr/pose.h
include/wecook/MotionNode.h
include/wecook/TSRMotionNode.h
include/wecook/ConfMotionNode.h
include/wecook/LinearDeltaMotionNode.h
include/wecook/GrabMotionNode.h
src/TSRMotionNode.cpp
src/ConfMotionNode.cpp
src/GrabMotionNode.cpp
src/LinearDeltaMotionNode.cpp
include/wecook/strutils.h
include/wecook/TSRMotionwithConstraintNode.h
src/TSRMotionwithConstraintNode.cpp
include/wecook/Container.h
include/wecook/ConnMetadata.h
src/Container.cpp
include/wecook/ContainingMap.h
src/ContainingMap.cpp
include/wecook/ConnMotionNode.h
src/ConnMotionNode.cpp
include/wecook/PreCondition.h
include/wecook/TSRPreCondition.h
include/wecook/ConfPreCondition.h
include/wecook/AngularDeltaMotionNode.h
src/AngularDeltaMotionNode.cpp
include/wecook/dart/FixedFrame.h
include/wecook/DeltaMotionNode.h
src/DeltaMotionNode.cpp
include/wecook/IKMotionNode.h
src/IKMotionNode.cpp
include/wecook/GravityMotionNode.h
src/GravityMotionNode.cpp
include/wecook/GrabPreCondition.h
include/wecook/ConnPreCondition.h
include/wecook/FakeMotionNode.h
src/FakeMotionNode.cpp
include/wecook/TSRIKNode.h
src/TSRIKNode.cpp
include/wecook/TaskGraph.h
src/TaskGraph.cpp
include/wecook/ActionNode.h
include/wecook/PrimitiveTaskGraph.h
include/wecook/PrimitiveActionNode.h
include/wecook/PrimitiveGraspNode.h
include/wecook/Human.h
include/wecook/Robot.h
include/wecook/PrimitiveEngageNode.h
include/wecook/PrimitiveActuateNode.h
include/wecook/PrimitivePlaceNode.h
include/wecook/RelativeIKMotionNode.h
src/RelativeIKMotionNode.cpp
src/PrimitiveTaskGraph.cpp
src/PrimitiveActionNode.cpp
include/wecook/PrimitiveActionExecutor.h
src/PrimitiveActionExecutor.cpp
src/PrimitiveGraspNode.cpp
src/PrimitiveEngageNode.cpp
src/PrimitivePlaceNode.cpp
src/PrimitiveActuateNode.cpp
src/Robot.cpp src/Human.cpp
include/wecook/ObjectMgr.h
src/ObjectMgr.cpp
include/wecook/TaskExecutorThread.h
src/TaskExecutorThread.cpp
include/wecook/planner/SmootherHelpers.h
src/planner/SmootherHelpers.cpp src/planner/SmootherUtil.h src/planner/SmootherUtil.cpp src/planner/SimpleDynamicPath.h src/planner/SimpleDynamicPath.cpp include/wecook/MetaActuateInfo.h)
add_dependencies(wecook wecook_generate_messages_cpp)
target_link_libraries(wecook
${DART_LIBRARIES}
${aikido_LIBRARIES}
${Boost_LIBRARIES}
libada
${PROJECT_NAME}_external_hauserparabolicsmoother)
install(TARGETS wecook RUNTIME DESTINATION bin)
#include(ClangFormat)
#clang_format_setup(VERSION 3.8)
#
#if (CLANG_FORMAT_EXECUTABLE)
# file(GLOB_RECURSE ALL_SOURCE_FILES
# LIST_DIRECTORIES false
# src/*.cpp
# src/*.h)
# clang_format_add_sources(${ALL_SOURCE_FILES})
# clang_format_add_targets()
#endif()