# Build TaskSpaceControl-Atlas example, from an installed Simbody.
# This must be invoked as a CMake subdirectory from
# the main examples CMakeLists.txt file.

set(header_files Atlas.h URDFReader.h) 
set(shared_header_files
    ../shared/TaskSpace.h ../shared/SimbodyExampleHelper.h)

set(source_files TaskSpaceControl-Atlas.cpp Atlas.cpp URDFReader.cpp)
set(shared_source_files ../shared/TaskSpace.cpp)

set(all_header_files ${header_files} ${shared_header_files})
set(all_source_files ${source_files} ${shared_source_files})

add_definitions("-DSIMBODY_EXAMPLE_NAME=\"${EX_NAME}\"")

# Link with shared library
add_executable(${EX_NAME} ${all_source_files} ${all_header_files})
set_target_properties(${EX_NAME}
                      PROPERTIES
                      PROJECT_LABEL "Example - ${EX_NAME}")
target_link_libraries(${EX_NAME} ${Simbody_LIBRARIES})