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CMakeLists.txt
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128 lines (111 loc) · 4.75 KB
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cmake_minimum_required (VERSION 3.0)
project(mujoco_planner)
set(CMAKE_CXX_COMPILER clang++)
set(CMAKE_CXX_FLAGS "-g -Wall -std=c++11")
find_package(Eigen3 3.3 REQUIRED NO_MODULE)
if(NOT OMPL_INCLUDE_DIRS)
find_package(ompl REQUIRED)
endif()
find_package(Threads REQUIRED)
find_package(OpenGL REQUIRED)
find_package(GLEW REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(Boost 1.58 QUIET REQUIRED COMPONENTS serialization filesystem system program_options)
add_library(mujoco-nogl SHARED IMPORTED)
add_library(mujoco SHARED IMPORTED)
add_library(glfw3 SHARED IMPORTED)
if(APPLE)
set_target_properties(mujoco-nogl PROPERTIES
IMPORTED_LOCATION "$ENV{HOME}/.mujoco/mujoco210/bin/libmujoco210nogl.dylib"
INTERFACE_INCLUDE_DIRECTORIES "$ENV{HOME}/.mujoco/mujoco210/include" )
set_target_properties(mujoco PROPERTIES
IMPORTED_LOCATION "$ENV{HOME}/.mujoco/mujoco210/bin/libmujoco210.dylib"
INTERFACE_INCLUDE_DIRECTORIES "$ENV{HOME}/.mujoco/mujoco210/include" )
set_target_properties(glfw3 PROPERTIES
IMPORTED_LOCATION "$ENV{HOME}/.mujoco/mujoco210/bin/libglfw.3.dylib"
INTERFACE_INCLUDE_DIRECTORIES "$ENV{HOME}/.mujoco/mujoco210/include" )
elseif(UNIX)
set_target_properties(mujoco-nogl PROPERTIES
IMPORTED_LOCATION "$ENV{HOME}/.mujoco/mujoco210/bin/libmujoco210nogl.so"
INTERFACE_INCLUDE_DIRECTORIES "$ENV{HOME}/.mujoco/mujoco210/include" )
set_target_properties(mujoco PROPERTIES
IMPORTED_LOCATION "$ENV{HOME}/.mujoco/mujoco210/bin/libmujoco210.so"
INTERFACE_INCLUDE_DIRECTORIES "$ENV{HOME}/.mujoco/mujoco210/include" )
set_target_properties(glfw3 PROPERTIES
IMPORTED_LOCATION "$ENV{HOME}/.mujoco/mujoco210/bin/libglfw.so.3"
INTERFACE_INCLUDE_DIRECTORIES "$ENV{HOME}/.mujoco/mujoco210/include" )
endif()
include_directories(${OMPL_INCLUDE_DIRS}, ${Boost_INCLUDE_DIR})
include_directories(3rd_party/include)
include_directories(include)
add_executable(plan plan.cpp
src/mujoco_wrapper.cpp
src/mujoco_ompl_interface.cpp
)
target_link_libraries(plan ${OMPL_LIBRARIES})
target_link_libraries(plan Eigen3::Eigen)
target_link_libraries(plan mujoco-nogl)
target_link_libraries(plan Threads::Threads)
target_link_libraries(plan yaml-cpp)
target_link_libraries(plan Boost::filesystem)
add_executable(render_plan render_plan.cpp
src/mujoco_wrapper.cpp
src/mujoco_ompl_interface.cpp
)
target_link_libraries(render_plan ${OMPL_LIBRARIES})
target_link_libraries(render_plan Eigen3::Eigen)
target_link_libraries(render_plan mujoco)
target_link_libraries(render_plan Threads::Threads)
target_link_libraries(render_plan glfw3)
target_link_libraries(render_plan OpenGL::GL)
target_link_libraries(render_plan GLEW::GLEW)
add_executable(plan_kinematic plan_kinematic.cpp
src/mujoco_wrapper.cpp
src/mujoco_ompl_interface.cpp
)
target_link_libraries(plan_kinematic ${OMPL_LIBRARIES})
target_link_libraries(plan_kinematic Eigen3::Eigen)
target_link_libraries(plan_kinematic mujoco-nogl)
target_link_libraries(plan_kinematic Threads::Threads)
target_link_libraries(plan_kinematic yaml-cpp)
add_executable(render_plan_kinematic render_plan_kinematic.cpp
src/mujoco_wrapper.cpp
src/mujoco_ompl_interface.cpp
)
target_link_libraries(render_plan_kinematic ${OMPL_LIBRARIES})
target_link_libraries(render_plan_kinematic Eigen3::Eigen)
target_link_libraries(render_plan_kinematic mujoco)
target_link_libraries(render_plan_kinematic Threads::Threads)
target_link_libraries(render_plan_kinematic glfw3)
target_link_libraries(render_plan_kinematic OpenGL::GL)
target_link_libraries(render_plan_kinematic GLEW::GLEW)
add_executable(smooth_plan smooth_plan.cpp
src/mujoco_wrapper.cpp
src/mujoco_ompl_interface.cpp
)
target_link_libraries(smooth_plan ${OMPL_LIBRARIES})
target_link_libraries(smooth_plan Eigen3::Eigen)
target_link_libraries(smooth_plan mujoco-nogl)
target_link_libraries(smooth_plan Threads::Threads)
target_link_libraries(smooth_plan yaml-cpp)
add_library(mujoco_ompl_nogl SHARED
src/mujoco_wrapper.cpp
src/mujoco_ompl_interface.cpp)
target_include_directories(mujoco_ompl_nogl PUBLIC include)
target_link_libraries(mujoco_ompl_nogl ${OMPL_LIBRARIES})
target_link_libraries(mujoco_ompl_nogl Eigen3::Eigen)
target_link_libraries(mujoco_ompl_nogl mujoco-nogl)
target_link_libraries(mujoco_ompl_nogl Threads::Threads)
target_link_libraries(mujoco_ompl_nogl yaml-cpp)
add_library(mujoco_ompl SHARED
src/mujoco_wrapper.cpp
src/mujoco_ompl_interface.cpp)
target_include_directories(mujoco_ompl PUBLIC include)
target_link_libraries(mujoco_ompl ${OMPL_LIBRARIES})
target_link_libraries(mujoco_ompl Eigen3::Eigen)
target_link_libraries(mujoco_ompl mujoco)
target_link_libraries(mujoco_ompl Threads::Threads)
target_link_libraries(mujoco_ompl yaml-cpp)
target_link_libraries(mujoco_ompl glfw3)
target_link_libraries(mujoco_ompl OpenGL::GL)
target_link_libraries(mujoco_ompl GLEW::GLEW)