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CMakeLists.txt
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CMakeLists.txt
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add_library(moveit_collision_detection SHARED
src/allvalid/collision_env_allvalid.cpp
src/collision_common.cpp
src/collision_matrix.cpp
src/collision_octomap_filter.cpp
src/collision_tools.cpp
src/world.cpp
src/world_diff.cpp
src/collision_env.cpp
src/collision_plugin_cache.cpp
)
target_include_directories(moveit_collision_detection PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/moveit_core>
)
include(GenerateExportHeader)
generate_export_header(moveit_collision_detection)
ament_target_dependencies(moveit_collision_detection
pluginlib
rclcpp
rmw_implementation
urdf
urdfdom
urdfdom_headers
srdfdom
visualization_msgs
tf2_eigen
geometric_shapes
OCTOMAP
)
target_include_directories(moveit_collision_detection BEFORE PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
target_include_directories(moveit_collision_detection PUBLIC $<TARGET_PROPERTY:moveit_planning_scene,INCLUDE_DIRECTORIES>)
set_target_properties(moveit_collision_detection PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
target_link_libraries(moveit_collision_detection
moveit_robot_state
moveit_utils
)
# unit tests
if(BUILD_TESTING)
if(WIN32)
# TODO add window paths
else()
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../robot_model;${CMAKE_CURRENT_BINARY_DIR}/../utils")
endif()
ament_add_gtest(test_world test/test_world.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
target_link_libraries(test_world moveit_collision_detection)
ament_add_gtest(test_world_diff test/test_world_diff.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
target_link_libraries(test_world_diff moveit_collision_detection)
ament_add_gtest(test_all_valid test/test_all_valid.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")
target_link_libraries(test_all_valid moveit_collision_detection moveit_robot_model)
endif()
install(DIRECTORY include/ DESTINATION include/moveit_core)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_collision_detection_export.h DESTINATION include/moveit_core)