cmake_minimum_required(VERSION 3.10)

project(stitcher_planner)

add_compile_options(-std=c++17)

set(CMAKE_BUILD_TYPE "Release")

find_package(Eigen3 3.3 REQUIRED)

include_directories(${EIGEN3_INCLUDE_DIR})

find_package(PCL REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})

add_definitions(${PCL_DEFINITIONS})

link_directories(${PCL_LIBRARY_DIRS})

find_package(PkgConfig)

pkg_check_modules(YAMLCPP REQUIRED yaml-cpp>=0.5)

include_directories(${YAMLCPP_INCLUDE_DIRS})

find_package(catkin REQUIRED COMPONENTS

roscpp

std_msgs

geometry_msgs

nav_msgs

sensor_msgs

pcl_ros

visualization_msgs

)

catkin_package(

CATKIN_DEPENDS

std_msgs

nav_msgs

sensor_msgs

LIBRARIES trajGenerator

)

include_directories(

${PROJECT_SOURCE_DIR}

${catkin_INCLUDE_DIRS}

)

add_library(trajGenerator src/primitives/lqmt/LQMTPrimitive.cpp

src/primitives/min_time/MinTimePrimitive.cpp

src/collision_checker/CollisionChecker.cc src/collision_checker/CollisionChecker.tpp

src/feasibility_checker/FeasibilityChecker.cpp src/feasibility_checker/FeasibilityChecker.tpp

src/geometric_planner/astar/Astar.cpp src/geometric_planner/jps/Jps3d.cpp src/geometric_planner/GeometricPlanner.cpp

src/reference_path_utils/ReferencePath.cpp

src/planners/heuristic_generator/HeuristicDP.cpp

src/planners/stitcher/STITCHER.tpp

src/planners/stitcher/LqmtSTITCHER.cpp)

target_include_directories(trajGenerator PUBLIC src src/primitives/lqmt

src/primitives/min_time

src/collision_checker

src/geometric_planner/astar

src/geometric_planner/jps

src/geometric_planner

src/reference_path_utils

src/feasibility_checker

src/planners/heuristic_generator

src/planners/stitcher)

add_executable(goal_click_node src/node/ROS_Goal_Click_Planning_Main.cc src/node/ROS_Goal_Click_Planning.cc)

add_dependencies(goal_click_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(goal_click_node trajGenerator ${catkin_LIBRARIES})