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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.4)
if(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)
set(CMAKE_CXX_FLAGS "-g -Wall")
PROJECT(HMPdetector)
#include(CheckCXXCompilerFlag)
#CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
#CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
#if(COMPILER_SUPPORTS_CXX11)
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
#elseif(COMPILER_SUPPORTS_CXX0X)
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
#else()
# message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
#endif()
## 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
roscpp
std_msgs
)
add_subdirectory(libs/DspFilters)
add_subdirectory(libs/GMM+GMR)
# find Threads - required by SerialStream
find_package(Threads REQUIRED)
find_package(Armadillo REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
#add_message_files(
# FILES
#)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
#generate_messages(
#DEPENDENCIES
#std_msgs # Or other packages containing msgs
#)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# LIBRARIES vision
CATKIN_DEPENDS roscpp std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(include
${catkin_INCLUDE_DIRS}
libs/GMM+GMR/include
libs/DspFilters/include
)
# use gmr (in 'libs/GMM+GMR' subfolder)
#include_directories("${PROJECT_SOURCE_DIR}/libs/GMM+GMR")
set(GMR_LIBS ${GMR_LIBS} GMM+GMR)
# use ChebyshevI (in 'libs/DspFilters' subfolder)
#include_directories("${PROJECT_SOURCE_DIR}/libs/DspFilters")
set(FILTER_LIBS ${FILTER_LIBS} DspFilters)
# find Boost (thread, date-time, system) - required by SerialStream
#include_directories(${Boost_INCLUDE_DIRS})
#link_directories(${Boost_LIBRARY_DIRS})
#if(USE_STATIC_BOOST)
# set(Boost_USE_STATIC_LIBS FALSE)
#endif()
#set(BOOST_LIBS ${BOOST_LIBS} thread date_time system)
#find_package(Boost REQUIRED COMPONENTS ${BOOST_LIBS})
## Declare a cpp library
# add_library(vision
# src/${PROJECT_NAME}/vision.cpp
# )
## Declare a cpp executable
ADD_EXECUTABLE(HMPdetector
./HMPdetector.cpp
./device.hpp ./MPU6050.hpp ./GwatchR.hpp
./publisher.hpp ./logfile.hpp ./PEIS.hpp
./classifier.cpp ./classifier.hpp ./creator.cpp ./creator.hpp ./utils.cpp ./utils.hpp
./HRI_HMP_Class.hpp ./HRI_HMP_Class.cpp )
##"./MPU6050.hpp" --> between device.h and gwatch.h
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(vision_node vision_generate_messages_cpp)
## Specify libraries to link a library or executable target against
TARGET_LINK_LIBRARIES(HMPdetector ${GMR_LIBS} ${FILTER_LIBS} -larmadillo)
TARGET_LINK_LIBRARIES(HMPdetector -lpthread)
#TARGET_LINK_LIBRARIES(HMPdetector ${Boost_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT})
TARGET_LINK_LIBRARIES(HMPdetector ${catkin_LIBRARIES}) ##NOTE : Remember to link with catkin_LIBRARIES too
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
#install(TARGETS biclops biclops_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
#)
## Mark cpp header files for installation
# install(DIRECTORY
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
#)
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_biclops.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
#INSTALL(
# TARGETS HMPdetector
# RUNTIME DESTINATION /usr/local/bin
# LIBRARY DESTINATION /usr/local/lib
# ARCHIVE DESTINATION /usr/local/lib
#)