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cmake_minimum_required(VERSION 3.0.2)
project(geometric_shapes)
add_compile_options(-std=c++11)
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/")
if (NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
message("${PROJECT_NAME}: You did not request a specific build type: Choosing 'Release' for maximum performance")
set(CMAKE_BUILD_TYPE Release)
endif()
find_package(ASSIMP QUIET)
if (NOT ASSIMP_FOUND)
find_package(PkgConfig REQUIRED)
# assimp is required, so REQUIRE the second attempt
pkg_check_modules(ASSIMP_PC REQUIRED assimp)
set(ASSIMP_INCLUDE_DIRS ${ASSIMP_PC_INCLUDE_DIRS})
endif()
# find *absolute* paths to ASSIMP_LIBRARIES
# Both, pkg-config and assimp's cmake-config don't provide an absolute library path.
# For, pkg-config the path is in ASSIMP_PC_LIBRARY_DIRS, for cmake in ASSIMP_LIBRARY_DIRS.
find_library(ASSIMP_ABS_LIBRARIES NAMES ${ASSIMP_LIBRARIES} assimp HINTS ${ASSIMP_LIBRARY_DIRS} ${ASSIMP_PC_LIBRARY_DIRS})
set(ASSIMP_LIBRARIES "${ASSIMP_ABS_LIBRARIES}")
find_package(Boost REQUIRED system filesystem)
find_package(console_bridge REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(octomap REQUIRED)
find_package(catkin REQUIRED COMPONENTS
eigen_stl_containers
random_numbers
resource_retriever
shape_msgs
visualization_msgs
)
catkin_package(
INCLUDE_DIRS
include
LIBRARIES ${PROJECT_NAME} ${OCTOMAP_LIBRARIES}
CATKIN_DEPENDS
eigen_stl_containers
random_numbers
shape_msgs
visualization_msgs
DEPENDS
EIGEN3
OCTOMAP
console_bridge
)
find_package(Qhull REQUIRED)
if (HAVE_QHULL_2011)
add_definitions(-DGEOMETRIC_SHAPES_HAVE_QHULL_2011)
endif()
include_directories(include)
include_directories(${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIR} ${ASSIMP_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS})
include_directories(${catkin_INCLUDE_DIRS} ${console_bridge_INCLUDE_DIRS})
add_library(${PROJECT_NAME}
src/aabb.cpp
src/bodies.cpp
src/body_operations.cpp
src/mesh_operations.cpp
src/shape_extents.cpp
src/shape_operations.cpp
src/shape_to_marker.cpp
src/shapes.cpp
)
target_link_libraries(${PROJECT_NAME} ${ASSIMP_LIBRARIES} ${QHULL_LIBRARIES} ${catkin_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${geometric_shapes_VERSION} SOVERSION "4d")
if(CATKIN_ENABLE_TESTING)
# Unit tests
add_subdirectory(test)
endif()
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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