CMakeLists.txt

cmake_minimum_required (VERSION 3.0.0)
project (cs225a)
SET(CMAKE_CXX_FLAGS "-std=c++17 -I/usr/include -I/usr/local/include -O3")
SET(CMAKE_BUILD_TYPE "Release")

# Mac OS X global build options
if(CMAKE_SYSTEM_NAME MATCHES Darwin)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -I/opt/homebrew/include")
endif()

# set common dependencies
# - eigen3
set(EIGEN3_INCLUDE_DIR $ENV{EIGEN3_INCLUDE_DIR})
if(NOT EIGEN3_INCLUDE_DIR)
	find_package(Eigen3 QUIET)
	# TODO: Find automatic way to find for Ubuntu 14.04
	if(NOT EIGEN3_INCLUDE_DIR)
		set(EIGEN3_INCLUDE_DIR /usr/include/eigen3)
	endif()
endif()
include_directories(${EIGEN3_INCLUDE_DIR})

# # - CHAI3D
find_package(CHAI3D REQUIRED)
include_directories(${CHAI3D_INCLUDE_DIRS})
add_definitions(${CHAI3D_DEFINITIONS})
if (CMAKE_SYSTEM_NAME MATCHES Darwin)
  add_definitions(-D_MACOSX -DMACOSX)
elseif (CMAKE_SYSTEM_NAME MATCHES Linux)
  add_definitions(-D_LINUX -DLINUX)
endif () #NOTE: Windows is currently unsupported
link_directories(${CHAI3D_LIBRARY_DIRS})

# - SAI2-SIMULATION
find_package(SAI2-SIMULATION REQUIRED)
include_directories(${SAI2-SIMULATION_INCLUDE_DIRS})
add_definitions(${SAI2-SIMULATION_DEFINITIONS})

# - SAI2-MODEL
FIND_PACKAGE(SAI2-MODEL REQUIRED)
include_directories(${SAI2-MODEL_INCLUDE_DIRS})
add_definitions(${SAI2-MODEL_DEFINITIONS})

# - SAI2-GRAPHICS
FIND_PACKAGE(SAI2-GRAPHICS REQUIRED)
include_directories(${SAI2-GRAPHICS_INCLUDE_DIRS})
add_definitions(${SAI2-GRAPHICS_DEFINITIONS})

# - SAI2-COMMON
find_package(SAI2-COMMON REQUIRED)
include_directories(${SAI2-COMMON_INCLUDE_DIRS})
add_definitions(${SAI2-COMMON_DEFINITIONS})

# - SAI2-URDF
find_package(SAI2-URDF REQUIRED)
include_directories(${SAI2-URDF_INCLUDE_DIRS})
add_definitions(${SAI2-URDF_DEFINITIONS})

# - SAI2-PRIMITIVES
find_package(SAI2-PRIMITIVES REQUIRED)
include_directories(${SAI2-PRIMITIVES_INCLUDE_DIRS})
add_definitions(${SAI2-PRIMITIVES_DEFINITIONS})

# - SAI2-INTERFACES
find_package(SAI2-INTERFACES REQUIRED)
include_directories(${SAI2-INTERFACES_INCLUDE_DIRS})

# - glfw3
find_package(glfw3 QUIET)
find_library(GLFW_LIBRARY glfw)

# - hiredis
find_library(HIREDIS_LIBRARY hiredis)

# Set the common libraries
set(CS225A_COMMON_LIBRARIES
	${CHAI3D_LIBARIES}
	${SAI2-INTERFACES_LIBRARIES}
	${HIREDIS_LIBRARY}
	${GLFW_LIBRARY}
	${SAI2-MODEL_LIBRARIES}
    ${SAI2-GRAPHICS_LIBRARIES}
    ${SAI2-SIMULATION_LIBRARIES}
    ${SAI2-COMMON_LIBRARIES}
    ${SAI2-URDF_LIBRARIES}
    ${CHAI3D_LIBRARIES}
    ${HIREDIS_LIBRARY}
    ${SAI2-PRIMITIVES_LIBRARIES}
	)

# set the urdf model folder
set(URDF_MODELS_FOLDER ${PROJECT_SOURCE_DIR}/urdf_models)
add_definitions(-DCS225A_URDF_FOLDER="${URDF_MODELS_FOLDER}")

set(CS225A_BINARY_DIR ${PROJECT_SOURCE_DIR}/bin)

add_subdirectory(${PROJECT_SOURCE_DIR}/src)