CMakeLists.txt

cmake_minimum_required(VERSION 3.10)
project(drake_kuka)

set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

find_package(Eigen3 REQUIRED PATHS Eigen)
include_directories(Eigen/)

# find_package(Threads MODULE REQUIRED)
find_package(drake CONFIG REQUIRED PATHS /opt/drake)

add_executable(main src/main.cpp)
target_link_libraries(main drake::drake Eigen3::Eigen)

# add_executable(grasp_main src/main_grasp.cpp)
# target_link_libraries(grasp_main drake::drake Eigen3::Eigen)

add_executable(kuka_sim_test test/tests/run_kuka_sim.cpp)
target_link_libraries(kuka_sim_test drake::drake Eigen3::Eigen)

add_executable(kuka_allegro_test test/tests/run_kuka_allegro_sim.cpp)
target_link_libraries(kuka_allegro_test drake::drake Eigen3::Eigen)

add_executable(kuka_brick test/tests/run_kuka_manip_brick.cpp)
target_link_libraries(kuka_brick drake::drake Eigen3::Eigen)

add_executable(gripper_vis test/tests/visualize_gripper_pose.cpp)
target_link_libraries(gripper_vis drake::drake Eigen3::Eigen)

add_executable(pick_and_place test/tests/pick_and_place.cpp
                              test/tests/IKTrajectorySystem.cpp)
target_link_libraries(pick_and_place drake::drake Eigen3::Eigen)