TrajOptKP/CMakeLists.txt at main · DMackRus/TrajOptKP · GitHub

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cmake_minimum_required(VERSION 3.0.2)
project(TrajOptKP)

set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O3")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})

get_filename_component(PARENT_DIR ${CMAKE_CURRENT_SOURCE_DIR} DIRECTORY)
set(MUJOCO_DIR    "$ENV{MJ_HOME}")

find_package(OpenMP)
if (OPENMP_FOUND)
    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
    set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
    message(STATUS "OPENMP has been found")
endif()

set(Eigen3_FOUND True)
find_package (Eigen3 3.3 REQUIRED NO_MODULE)
if (TARGET Eigen3::Eigen)
    # Use the imported target
    message(STATUS "Eigen library found")
else()
    message(STATUS "could not find eigen library")
endif (TARGET Eigen3::Eigen)

set(Mujoco_INCLUDE_DIRS ${MUJOCO_DIR}/include/mujoco)
message(STATUS "Mujoco directory: " ${MUJOCO_DIR})
file(GLOB LIB_MUJOCO "${MUJOCO_DIR}/lib/libmujoco.so.*")
message(STATUS "parent directory: " ${PARENT_DIR})
message(STATUS "MuJoCo lib found at: " ${LIB_MUJOCO})
message(STATUS "Mujoco include directory: " ${Mujoco_INCLUDE_DIRS})

find_package(yaml-cpp REQUIRED)
if (TARGET yaml-cpp::yaml-cpp)
    # Use the imported target
    message(STATUS "yaml library found")
else()
    message(STATUS "could not find yaml library")
endif (TARGET yaml-cpp::yaml-cpp)

set(PROJECT_INCLUDE_DIR ${PARENT_DIR}/${PROJECT_NAME}/include)
message(STATUS "project include directory: " ${PROJECT_INCLUDE_DIR})

# PNG writer
find_package(PNGwriter 0.7.0)

if(PNGwriter_FOUND)
#    target_link_libraries(YourTarget PRIVATE PNGwriter::PNGwriter)
    message(STATUS "PNG writer library found")
endif(PNGwriter_FOUND)

# Create libraries
#add_library(MuJoCo_helper STATIC src/PhysicsSimulators/MuJoCoHelper.cpp )

add_executable(${PROJECT_NAME} src/main.cpp
            src/StdInclude/StdInclude.cpp
            src/PhysicsSimulators/MuJoCoHelper.cpp
            src/ModelTranslator/ModelTranslator.cpp
            src/Visualiser/Visualiser.cpp
            src/ModelTranslator/Reaching.cpp
            src/ModelTranslator/TwoDPushing.cpp
            src/Differentiator/Differentiator.cpp
            src/Optimiser/Optimiser.cpp
            src/Optimiser/iLQR.cpp
#            src/Optimiser/PredictiveSampling.cpp
            src/ModelTranslator/Walker.cpp
            src/FileHandler/FileHandler.cpp
#            src/Optimiser/GradDescent.cpp
            src/ModelTranslator/BoxSweep.cpp
            src/ModelTranslator/Acrobot.cpp
            src/ModelTranslator/Hopper.cpp
            src/ModelTranslator/Humanoid.cpp
            src/GenTestingData.cpp
            src/KeyPointGenerator/KeyPointGenerator.cpp
            src/ModelTranslator/ThreeDPushing.cpp
            src/ModelTranslator/PushBaseClass.cpp
            src/ModelTranslator/Pentabot.cpp
            src/ModelTranslator/PistonBlock.cpp
            src/Optimiser/iLQR_SVR.cpp
            src/ModelTranslator/PushSoft.cpp
            src/ModelTranslator/SweepMultiple.cpp
            src/ModelTranslator/PlaceObject.cpp
            src/ModelTranslator/FloatingCube.cpp)

include_directories(
        include
        ${MUJOCO_DIR}/include
)

target_include_directories(${PROJECT_NAME} PUBLIC ${Mujoco_INCLUDE_DIRS} ${YAML_INCLUDE_DIRS} ${PROJECT_INCLUDE_DIR})

target_link_libraries(${PROJECT_NAME} Eigen3::Eigen ${LIB_MUJOCO} -lglfw libGL.so GL ${YAML_CPP_LIBRARIES} PNGwriter::PNGwriter)

enable_testing()

#add_subdirectory(src/tests)

# ------------------------------------------   TESTS   -------------------------------------------------------------

# ------- Computing derivatives test -------------
add_executable(test_derivs src/tests/Derivs_Test.cpp
        src/Differentiator/Differentiator.cpp
        src/ModelTranslator/ModelTranslator.cpp
        src/tests/test_acrobot.h
        src/tests/3D_test_class.h
        src/PhysicsSimulators/MuJoCoHelper.cpp
        src/StdInclude/StdInclude.cpp
        src/FileHandler/FileHandler.cpp src/tests/test_humanoid.h)

target_include_directories(test_derivs PUBLIC ${Mujoco_INCLUDE_DIRS} ${YAML_INCLUDE_DIRS} ${PROJECT_INCLUDE_DIR})

target_link_libraries(test_derivs Eigen3::Eigen ${LIB_MUJOCO} -lglfw libGL.so GL ${YAML_CPP_LIBRARIES} gtest)

add_test(Derivs test_derivs)

# ----------- Keypoint generation tests ------------
add_executable(test_keypoints src/tests/Keypoints_Test.cpp
        src/KeyPointGenerator/KeyPointGenerator.cpp
        src/Differentiator/Differentiator.cpp
        src/ModelTranslator/ModelTranslator.cpp
        src/tests/test_acrobot.h
        src/tests/3D_test_class.h
        src/PhysicsSimulators/MuJoCoHelper.cpp
        src/StdInclude/StdInclude.cpp
        src/FileHandler/FileHandler.cpp)

target_include_directories(test_keypoints PUBLIC ${Mujoco_INCLUDE_DIRS} ${YAML_INCLUDE_DIRS} ${PROJECT_INCLUDE_DIR})

target_link_libraries(test_keypoints Eigen3::Eigen ${LIB_MUJOCO} -lglfw libGL.so GL ${YAML_CPP_LIBRARIES} gtest)

add_test(Keypoints test_keypoints)

# ---------- Model translator tests ------------
add_executable(test_model_translator src/tests/ModelTranslator_Test.cpp
        src/ModelTranslator/ModelTranslator.cpp
        src/tests/test_acrobot.h
        src/tests/3D_test_class.h
        src/PhysicsSimulators/MuJoCoHelper.cpp
        src/StdInclude/StdInclude.cpp
        src/FileHandler/FileHandler.cpp)

target_include_directories(test_model_translator PUBLIC ${Mujoco_INCLUDE_DIRS} ${YAML_INCLUDE_DIRS} ${PROJECT_INCLUDE_DIR})

target_link_libraries(test_model_translator Eigen3::Eigen ${LIB_MUJOCO} -lglfw libGL.so GL ${YAML_CPP_LIBRARIES} gtest)

add_test(ModelTranslator test_model_translator)