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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(driving_simulator)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
driving_simulator_msgs
)
find_package(Despot CONFIG REQUIRED)
catkin_package(
INCLUDE_DIRS include
LIBRARIES driving_simulator
CATKIN_DEPENDS message_runtime driving_simulator_msgs
# DEPENDS system_lib
)
include_directories(
include
include/
${catkin_INCLUDE_DIRS}
)
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
add_executable(MultipolicyMPC src/FORCESNLPsolver_casadi2forces.c
src/FORCESNLPsolver_model_1.c
src/FORCESNLPsolver_model_50.c
src/Clothoid.cpp
src/spline.cpp
src/MPC.cpp
)
add_executable(DESPOT
src/Clothoid.cpp
src/spline.cpp
src/POMDPrviz.cpp
src/OnlinePOMDP.cpp)
add_executable(DESPOT1
src/Clothoid.cpp
src/spline.cpp
src/POMDPrviz1.cpp
src/OnlinePOMDP1.cpp)
add_executable(DESPOT2
src/Clothoid.cpp
src/spline.cpp
src/POMDPrviz2.cpp
src/OnlinePOMDP2.cpp)
add_executable(DESPOT3
src/Clothoid.cpp
src/spline.cpp
src/POMDPrviz3.cpp
src/OnlinePOMDP3.cpp)
target_link_libraries(MultipolicyMPC
${catkin_LIBRARIES}
/home/bdebrito/catkin_ws/src/driving_simulator/src/libFORCESNLPsolver.so)
#
target_link_libraries(DESPOT
${catkin_LIBRARIES}
despot)
target_link_libraries(DESPOT1
${catkin_LIBRARIES}
despot)
target_link_libraries(DESPOT2
${catkin_LIBRARIES}
despot)
target_link_libraries(DESPOT3
${catkin_LIBRARIES}
despot)
add_library(DriverModel
src/Clothoid.cpp
src/spline.cpp
src/DriverModel.cpp)
add_dependencies(DriverModel ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(DriverModel ${catkin_LIBRARIES})
add_executable(DriverModel_node src/driver_node.cpp)
add_dependencies(DriverModel_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(DriverModel_node DriverModel ${catkin_LIBRARIES} )
### INSTALL ###
install(TARGETS DriverModel_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)