IPN_MPC/CMakeLists.txt at master · RoboticsPolyu/IPN_MPC · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
cmake_minimum_required(VERSION 3.10)
project(IPN_MPC)

option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON)
option(BUILD_HARDWARE    "Enable Hardware Support" OFF)
option(BUILD_WITH_ROS    "Enable Ros Support" OFF)


set(DEFAULT_BUILD_TYPE "Release")
if (NOT CMAKE_BUILD_TYPE)
    message(STATUS "Setting build type to '${DEFAULT_BUILD_TYPE}' as none was specified.")
    set(CMAKE_BUILD_TYPE "${DEFAULT_BUILD_TYPE}" CACHE
            STRING "Choose the type of build." FORCE)
    # Set the possible values of build type for cmake-gui
    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
            "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif ()

set(CMAKE_CXX_FLAGS "-std=c++14 -g -Wall")

if(APPLE)
    set(ENV{CC} "/usr/local/opt/llvm/bin/clang-8")
    set(ENV{CXX} "/usr/local/opt/llvm/bin/clang++")
    set(ENV{LDFLAGS} "-L/usr/local/opt/llvm/lib")
    set(ENV{CPPFLAGS} "-I/usr/local/opt/llvm/include")
endif()


set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -fpermissive -Wno-reorder" CACHE STRING "" FORCE)
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -fpermissive -DNDEBUG -Wno-reorder -O2" CACHE STRING "" FORCE)

list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
list(APPEND CMAKE_MODULE_PATH "/usr/local/cmake/lib/cmake")

if(BUILD_WITH_ROS)
find_package(catkin REQUIRED COMPONENTS
  roscpp message_generation std_msgs geometry_msgs
)

add_message_files(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/msg" FILES IMU.msg INPUT.msg Rsm.msg)
generate_messages(DEPENDENCIES std_msgs geometry_msgs)
include_directories(${catkin_INCLUDE_DIRS})
catkin_package(
    CATKIN_DEPENDS
    roscpp
    mavros_msgs
    message_runtime
    std_msgs
    geometry_msgs)
endif()

# Eigen
find_package(Eigen3 REQUIRED NO_MODULE)
include_directories(${EIGEN3_INCLUDE_DIR})

# opencv
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

# glog
find_package(Glog REQUIRED)
include_directories(${GLOG_INCLUDE_DIRS})

# tbb
find_package(TBB COMPONENTS tbb tbbmalloc)

# gtsam
find_package(GTSAM REQUIRED)
include_directories(${GTSAM_INCLUDE_DIR})

# include
include_directories(include)

# Armadillo
# find_package(Armadillo REQUIRED)
# include_directories(${ARMADILLO_INCLUDE_DIRS})

# Pangolin
find_package(Pangolin 0.8 REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})

# Find OSQP library and headers
# find_package(osqp REQUIRED)
# find_package(OsqpEigen REQUIRED)

# Find yaml-cpp
find_package(yaml-cpp)
include_directories(${YAML_CPP_INCLUDE_DIRS})

# OpenCV
find_package(OpenCV REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )


IF(UNIX)
ELSEIF(APPLE)
ENDIF()


add_library(quadrotor_dynamics
            include/gtsam_wrapper.h
            src/UI.cpp
            src/control/Energy_control_factor.cpp
            src/control/CBF_factor.cpp
            src/control/Dynamics_control_factor.cpp
            src/control/Dynamics_factor.cpp
            src/env_sensors_sim/IMU.cpp
            src/env_sensors_sim/Landmarks.cpp
            src/env_sensors_sim/Lidar.cpp
            src/env_sensors_sim/Obs.cpp
            src/dynamics/Quadrotor_SO3.cpp
            src/trajectory_generator/Trajectory_generator.cpp)

target_link_libraries(quadrotor_dynamics PUBLIC gtsam gtsam_unstable ${Pangolin_LIBRARIES} ${YAML_CPP_LIBRARIES})


# Simulation of JPCM

add_executable(simple_circle_motion_test app/circle_trajectory_test.cpp)
target_link_libraries(simple_circle_motion_test gtsam quadrotor_dynamics ${Pangolin_LIBRARIES})

add_executable(Joint_Estimation_Control app/Joint_Estimation_Control.cpp)
target_link_libraries(Joint_Estimation_Control gtsam quadrotor_dynamics ${Pangolin_LIBRARIES} ${YAML_CPP_LIBRARIES})

add_executable(hin_Joint_Estimation_Control app/hin_Joint_Estimation_Control.cpp)
target_link_libraries(hin_Joint_Estimation_Control gtsam quadrotor_dynamics ${Pangolin_LIBRARIES} ${YAML_CPP_LIBRARIES})

add_executable(Joint_Estimation_Control_iSAM app/Joint_Estimation_Control_iSAM.cpp)
target_link_libraries(Joint_Estimation_Control_iSAM gtsam quadrotor_dynamics ${Pangolin_LIBRARIES} ${YAML_CPP_LIBRARIES})

add_executable(SW_Joint_Estimation_Control app/SW_Joint_Estimation_Control.cpp)
target_link_libraries(SW_Joint_Estimation_Control gtsam quadrotor_dynamics ${Pangolin_LIBRARIES} ${YAML_CPP_LIBRARIES})

add_executable(Joint_Positioning_Control_Test app/Joint_Positioning_Control_Test.cpp)
target_link_libraries(Joint_Positioning_Control_Test gtsam quadrotor_dynamics ${Pangolin_LIBRARIES} ${YAML_CPP_LIBRARIES})

add_executable(JPCM_TGyro_Test app/JPCM_TGyro_Test.cpp)
target_link_libraries(JPCM_TGyro_Test gtsam quadrotor_dynamics ${Pangolin_LIBRARIES} ${YAML_CPP_LIBRARIES})

add_executable(JPCM_TGyro_Wall app/JPCM_TGyro_Wall.cpp)
target_link_libraries(JPCM_TGyro_Wall gtsam quadrotor_dynamics ${Pangolin_LIBRARIES} ${YAML_CPP_LIBRARIES})

add_executable(JPCM_TGyro_CBF_Test app/JPCM_TGyro_CBF_Test.cpp)
target_link_libraries(JPCM_TGyro_CBF_Test gtsam quadrotor_dynamics ${Pangolin_LIBRARIES} ${YAML_CPP_LIBRARIES})