CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(mpc_lib)

add_compile_options(-std=c++17)

# Stop IDEs from processing googletest dir, this messes up code refactoring and inspection
# We need to remove this one day down the line.
set(CATKIN_ENABLE_TESTING false)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
        )

find_package(PkgConfig REQUIRED)
pkg_check_modules(cppad REQUIRED)
pkg_check_modules(ipopt REQUIRED)

###################################
## catkin specific configuration ##
###################################
catkin_package(
        INCLUDE_DIRS include
        LIBRARIES mpc_lib
        CATKIN_DEPENDS
        DEPENDS cppad ipopt
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
        include
        ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
add_library(${PROJECT_NAME}
        src/mpc.cpp
        )

add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(${PROJECT_NAME} ipopt)


# Test
add_executable(mpc_test src/test.cpp)
add_dependencies(mpc_test ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(mpc_test ${PROJECT_NAME})

#############
## Install ##
#############

# Mark executables for installation
install(TARGETS mpc_test
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
        )

## Mark libraries for installation
install(TARGETS ${PROJECT_NAME}
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
        )

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
        FILES_MATCHING PATTERN "*.h"
        PATTERN ".svn" EXCLUDE
        PATTERN ".git" EXCLUDE
        )

## Prints all CMake Vars-
#get_cmake_property(_variableNames VARIABLES)
#list(SORT _variableNames)
#foreach (_variableName ${_variableNames})
#    message(STATUS "${_variableName}=${${_variableName}}")
#endforeach ()