CMakeLists.txt

# requires minimum cmake version
cmake_minimum_required(VERSION 3.5)

# enforce C++11 features
set(CMAKE_CXX_STANDARD 11)

# produce the cmake var PROJECT_NAME
project(assignment_control-pid)

# mandatory use of these packages
find_package(YARP 3.5.1 REQUIRED)
find_package(ICUB REQUIRED)
find_package(ICUBcontrib REQUIRED)
find_package(Gazebo REQUIRED)

# extend the current search path used by cmake to load helpers
list(APPEND CMAKE_MODULE_PATH ${ICUBCONTRIB_MODULE_PATH})

# helpers defining certain macros
include(ICUBcontribHelpers)
include(ICUBcontribOptions)

# specify to install in $ICUBcontrib_DIR/bin
icubcontrib_set_default_prefix()

add_subdirectory(gazebo)

# world
add_library(${PROJECT_NAME}-world SHARED ${CMAKE_SOURCE_DIR}/src/world.cpp)
target_compile_definitions(${PROJECT_NAME}-world PRIVATE _USE_MATH_DEFINES)
target_include_directories(${PROJECT_NAME}-world PRIVATE ${GAZEBO_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME}-world PRIVATE ${GAZEBO_LIBRARIES} ${YARP_LIBRARIES})
target_link_directories(${PROJECT_NAME}-world PRIVATE ${GAZEBO_LIBRARY_DIRS})
install(TARGETS ${PROJECT_NAME}-world LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT shlib)

# mover
add_executable(${PROJECT_NAME}-mover ${CMAKE_SOURCE_DIR}/src/mover.cpp)
target_compile_definitions(${PROJECT_NAME}-mover PRIVATE _USE_MATH_DEFINES)
target_link_libraries(${PROJECT_NAME}-mover ${YARP_LIBRARIES} ctrlLib)
install(TARGETS ${PROJECT_NAME}-mover DESTINATION bin)

# detector
add_executable(${PROJECT_NAME}-detector ${CMAKE_SOURCE_DIR}/src/detector.cpp)
target_compile_definitions(${PROJECT_NAME}-detector PRIVATE _USE_MATH_DEFINES)
target_link_libraries(${PROJECT_NAME}-detector ${YARP_LIBRARIES})
install(TARGETS ${PROJECT_NAME}-detector DESTINATION bin)

# controller
add_executable(${PROJECT_NAME}-controller ${CMAKE_SOURCE_DIR}/src/controller.cpp)
target_compile_definitions(${PROJECT_NAME}-controller PRIVATE _USE_MATH_DEFINES)
target_link_libraries(${PROJECT_NAME}-controller ${YARP_LIBRARIES})
install(TARGETS ${PROJECT_NAME}-controller DESTINATION bin)

# generate ad-hoc project to perform "make uninstall"
icubcontrib_add_uninstall_target()

file(GLOB scripts ${CMAKE_SOURCE_DIR}/app/scripts/*.xml)
yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_APPLICATIONS_INSTALL_DIR})