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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.7)
# create project
project(OpenWrist VERSION 0.1.0 LANGUAGES CXX)
# include directories (your includes and MEL's)
include_directories("src")
# find MEL
find_package(MEL REQUIRED)
find_package(Eigen3 REQUIRED NO_MODULE)
# get common files
set(OPENWRIST_SRC
src/OpenWrist.hpp
src/OpenWrist.cpp
src/OwConfiguration.hpp
src/OwConfiguration.cpp
src/OwParameters.hpp
src/OwConfiguration.cpp)
set(CUFF_SRC
src/Cuff/Cuff.hpp
src/Cuff/Cuff.cpp
src/Cuff/definitions.h
src/Cuff/commands.h
src/Cuff/qbmove_communications.h
src/Cuff/qbmove_communications.cpp)
#==============================================================================
# APPLICATIONS
#==============================================================================
# Various Demos and Utilities
add_executable(demos ${OPENWRIST_SRC}
src/demos.cpp
src/Games/Jedi/Jedi.cpp
src/Games/Jedi/Jedi.hpp
src/Games/OctagonSqueeze/OctagonSqueeze.hpp
src/Games/OctagonSqueeze/OctagonSqueeze.cpp
src/Games/Airplane/Airplane.cpp
src/Games/Airplane/Airplane.hpp
src/Simulations/Pendulum.cpp
src/Simulations/Pendulum.hpp
src/Simulations/BallAndBeam.cpp
src/Simulations/BallAndBeam.hpp
${CUFF_SRC}
)
target_link_libraries(demos MEL::quanser)
# ToH 2019 Experiments
add_executable(haptic_training ${OPENWRIST_SRC} ${CUFF_SRC}
src/HapticTraining/main.cpp
src/Simulations/FurutaPendulum.hpp
src/Simulations/FurutaPendulum.cpp
src/Simulations/BallAndBeam.hpp
src/Simulations/BallAndBeam.cpp
src/HapticTraining/HapticTraining.hpp
src/HapticTraining/HapticTraining.cpp
src/HapticTraining/main2.cpp)
target_link_libraries(haptic_training MEL::quanser)
# X-wing
add_executable(xwing ${OPENWRIST_SRC}
src/Games/XWing/main.cpp
src/Games/XWing/XWing.hpp
src/Games/XWing/XWing.cpp)
target_link_libraries(xwing MEL::quanser)
# Caz tests
add_executable(testing tests/testing.cpp ${OPENWRIST_SRC})
target_link_libraries(testing MEL::quanser)
# OpenWristSim
add_executable(openwrist_model_bench src/OpenWristSim/OpenWristModel.hpp src/OpenWristSim/OpenWristModel.cpp src/OpenWristSim/bench.cpp)
target_link_libraries(openwrist_model_bench MEL::MEL Eigen3::Eigen)
add_executable(openwrist_sim_pd_tuner src/OpenWristSim/OpenWristSim.hpp src/OpenWristSim/OpenWristSim.cpp src/OpenWristSim/pd_tuner.cpp)
target_link_libraries(openwrist_sim_pd_tuner MEL::MEL Eigen3::Eigen)
add_library(openwrist_model SHARED src/OpenWristSim/OpenWristModel.hpp src/OpenWristSim/OpenWristModel.cpp src/OpenWristSim/dll.cpp)
target_link_libraries(openwrist_model MEL::MEL Eigen3::Eigen)
# GUI Demo Launcher
find_package(carnot)
if (carnot_FOUND)
add_executable(demo-gui src/GUI/demo.cpp ${OPENWRIST_SRC})
target_link_libraries(demo-gui MEL::quanser carnot)
endif()