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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.1)
if(WIN32)
set(CMAKE_TOOLCHAIN_FILE C:/vcpkg/scripts/buildsystems/vcpkg.cmake)
endif()
project(dqroboticspython)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
#COPPELIASIM INTERFACE
add_definitions(-DSIM_REMOTEAPICLIENT_OBJECTS)
#VREP INTERFACE
add_definitions(-DNON_MATLAB_PARSING)
add_definitions(-DMAX_EXT_API_CONNECTIONS=255)
add_definitions(-DDO_NOT_USE_SHARED_MEMORY)
if(APPLE)
find_package(cppzmq)
message("Building not supported on this platform.")
include_directories(
/usr/local/include/
/usr/local/include/eigen3
/opt/homebrew/include
/opt/homebrew/include/eigen3
)
endif()
if(WIN32)
message("Building not supported on this platform.")
ADD_DEFINITIONS(-D_USE_MATH_DEFINES)
FIND_PACKAGE(Eigen3 CONFIG REQUIRED)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
endif()
include_directories(
/usr/include/eigen3/
cpp/include/
interfaces/cpp-interface-vrep/include/
interfaces/cpp-interface-vrep/coppeliarobotics/include/
interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi/
interfaces/cpp-interface-json11/include/
interfaces/cpp-interface-json11/dropbox/json11/
interfaces/cpp-interface-coppeliasim/include/
interfaces/cpp-interface-coppeliasim-zmq/include/
interfaces/cpp-interface-coppeliasim-zmq/submodules/zmqRemoteApi/clients/cpp/
interfaces/cpp-interface-coppeliasim-zmq/submodules/jsoncons/include/
)
add_subdirectory(pybind11)
pybind11_add_module(_dqrobotics
src/dqrobotics_module.cpp
cpp/src/DQ.cpp
src/DQ_py.cpp
#Internal
cpp/src/internal/_dq_linesegment.cpp
#Utils
cpp/src/utils/DQ_LinearAlgebra.cpp
src/utils/DQ_LinearAlgebra_py.cpp
cpp/src/utils/DQ_Geometry.cpp
src/utils/DQ_Geometry_py.cpp
cpp/src/utils/DQ_Math.cpp
src/utils/DQ_Math_py.cpp
#robot_modeling
cpp/src/robot_modeling/DQ_CooperativeDualTaskSpace.cpp
src/robot_modeling/DQ_CooperativeDualTaskSpace_py.cpp
cpp/src/robot_modeling/DQ_Kinematics.cpp
src/robot_modeling/DQ_Kinematics_py.cpp
cpp/src/robot_modeling/DQ_SerialManipulator.cpp
src/robot_modeling/DQ_SerialManipulator_py.cpp
cpp/src/robot_modeling/DQ_SerialManipulatorDH.cpp
src/robot_modeling/DQ_SerialManipulatorDH_py.cpp
cpp/src/robot_modeling/DQ_SerialManipulatorMDH.cpp
src/robot_modeling/DQ_SerialManipulatorMDH_py.cpp
cpp/src/robot_modeling/DQ_SerialManipulatorDenso.cpp
src/robot_modeling/DQ_SerialManipulatorDenso_py.cpp
cpp/src/robot_modeling/DQ_MobileBase.cpp
src/robot_modeling/DQ_MobileBase_py.cpp
cpp/src/robot_modeling/DQ_HolonomicBase.cpp
src/robot_modeling/DQ_HolonomicBase_py.cpp
cpp/src/robot_modeling/DQ_DifferentialDriveRobot.cpp
src/robot_modeling/DQ_DifferentialDriveRobot_py.cpp
cpp/src/robot_modeling/DQ_WholeBody.cpp
src/robot_modeling/DQ_WholeBody_py.cpp
cpp/src/robot_modeling/DQ_SerialWholeBody.cpp
src/robot_modeling/DQ_SerialWholeBody_py.cpp
#robot_control
cpp/src/robot_control/DQ_KinematicController.cpp
src/robot_control/DQ_KinematicController_py.cpp
cpp/src/robot_control/DQ_PseudoinverseController.cpp
src/robot_control/DQ_PseudoinverseController_py.cpp
cpp/src/robot_control/DQ_NumericalFilteredPseudoInverseController.cpp
src/robot_control/DQ_NumericalFilteredPseudoInverseController_py.cpp
cpp/src/robot_control/DQ_KinematicConstrainedController.cpp
src/robot_control/DQ_KinematicConstrainedController_py.cpp
cpp/src/robot_control/DQ_QuadraticProgrammingController.cpp
src/robot_control/DQ_QuadraticProgrammingController_py.cpp
cpp/src/robot_control/DQ_ClassicQPController.cpp
src/robot_control/DQ_ClassicQPController_py.cpp
#solvers
#DQ_QuadraticProgrammingSolver.h
src/solvers/DQ_QuadraticProgrammingSolver_py.cpp
#robots
cpp/src/robots/Ax18ManipulatorRobot.cpp
cpp/src/robots/BarrettWamArmRobot.cpp
cpp/src/robots/ComauSmartSixRobot.cpp
cpp/src/robots/KukaLw4Robot.cpp
cpp/src/robots/KukaYoubotRobot.cpp
cpp/src/robots/FrankaEmikaPandaRobot.cpp
#interfaces/vrep
interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_VrepInterface.cpp
interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_VrepInterfaceMapElement.cpp
interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi/extApi.c
interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi/extApiPlatform.h
interfaces/cpp-interface-vrep/coppeliarobotics/remoteApi/extApiPlatform.c
src/interfaces/vrep/DQ_VrepInterface_py.cpp
interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_VrepRobot.cpp
interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/DQ_SerialVrepRobot.cpp
interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/robots/LBR4pVrepRobot.cpp
interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/robots/YouBotVrepRobot.cpp
interfaces/cpp-interface-vrep/src/dqrobotics/interfaces/vrep/robots/FrankaEmikaPandaVrepRobot.cpp
src/interfaces/vrep/DQ_VrepRobot_py.cpp
src/interfaces/vrep/DQ_SerialVrepRobot_py.cpp
#interfaces/json11
interfaces/cpp-interface-json11/src/dqrobotics/interfaces/json11/DQ_JsonReader.cpp
src/interfaces/json11/DQ_JsonReader_py.cpp
interfaces/cpp-interface-json11/dropbox/json11/json11.cpp
#interfaces/copppeliasim-zmq
interfaces/cpp-interface-coppeliasim-zmq/submodules/zmqRemoteApi/clients/cpp/RemoteAPIClient.cpp
interfaces/cpp-interface-coppeliasim-zmq/src/dqrobotics/interfaces/coppeliasim/internal/_zmq_wrapper.cpp
interfaces/cpp-interface-coppeliasim-zmq/src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ.cpp
src/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ_py.cpp
)
if(APPLE)
target_link_libraries(_dqrobotics PRIVATE cppzmq)
endif()
if(UNIX AND NOT APPLE)
target_link_libraries(_dqrobotics PRIVATE zmq)
endif()