/
CMakeLists.txt
48 lines (41 loc) · 1.54 KB
/
CMakeLists.txt
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set(MOVEIT_LIB_NAME moveit_constraint_samplers)
add_library(${MOVEIT_LIB_NAME}
src/constraint_sampler.cpp
src/constraint_sampler_manager.cpp
src/constraint_sampler_tools.cpp
src/default_constraint_samplers.cpp
src/union_constraint_sampler.cpp
)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
target_link_libraries(${MOVEIT_LIB_NAME}
moveit_robot_state
moveit_kinematic_constraints
moveit_kinematics_base
moveit_planning_scene
${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
install(TARGETS ${MOVEIT_LIB_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
if(CATKIN_ENABLE_TESTING)
find_package(orocos_kdl REQUIRED)
find_package(angles REQUIRED)
find_package(tf2_kdl REQUIRED)
find_package(moveit_resources REQUIRED)
include_directories(${orocos_kdl_INCLUDE_DIRS} ${angles_INCLUDE_DIRS} ${tf2_kdl_INCLUDE_DIRS} ${moveit_resources_INCLUDE_DIRS})
catkin_add_gtest(test_constraint_samplers
test/test_constraint_samplers.cpp
test/pr2_arm_kinematics_plugin.cpp
test/pr2_arm_ik.cpp
)
target_link_libraries(test_constraint_samplers
moveit_test_utils
${MOVEIT_LIB_NAME}
${catkin_LIBRARIES}
${angles_LIBRARIES}
${orocos_kdl_LIBRARIES}
${urdfdom_LIBRARIES}
${urdfdom_headers_LIBRARIES}
)
endif()