89 lines
3.3 KiB
CMake
89 lines
3.3 KiB
CMake
cmake_minimum_required(VERSION 2.8.12)
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project(collada_urdf)
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find_package(catkin REQUIRED COMPONENTS angles collada_parser resource_retriever urdf geometric_shapes tf cmake_modules)
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find_package(TinyXML REQUIRED)
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catkin_package(
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LIBRARIES ${PROJECT_NAME}
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INCLUDE_DIRS include
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DEPENDS angles collada_parser resource_retriever urdf geometric_shapes tf)
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include(CheckCXXCompilerFlag)
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check_cxx_compiler_flag(-std=c++11 HAS_STD_CPP11_FLAG)
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if(HAS_STD_CPP11_FLAG)
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add_compile_options(-std=c++11)
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endif()
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include_directories(include)
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find_package(assimp QUIET)
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if ( NOT ASSIMP_FOUND )
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find_package(Assimp QUIET)
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if ( NOT ASSIMP_FOUND )
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find_package(PkgConfig REQUIRED)
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pkg_check_modules(ASSIMP assimp)
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endif()
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endif()
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if( ASSIMP_FOUND )
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if( NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150" )
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add_definitions(-DASSIMP_UNIFIED_HEADER_NAMES)
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endif()
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if( NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.885" )
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add_definitions(-DASSIMP_EXPORT_API)
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endif()
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include_directories(${ASSIMP_INCLUDE_DIRS})
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link_directories(${ASSIMP_LIBRARY_DIRS})
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else()
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message(STATUS "could not find assimp (perhaps available thorugh ROS package?), so assuming assimp v2")
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set(ASSIMP_LIBRARIES assimp)
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set(ASSIMP_LIBRARY_DIRS)
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set(ASSIMP_CXX_FLAGS)
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set(ASSIMP_CFLAGS_OTHER)
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set(ASSIMP_LINK_FLAGS)
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set(ASSIMP_INCLUDE_DIRS)
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endif()
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# Note: assimp 3.1 overwrites CMake Boost variables, so we need to check for
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# Boost after assimp.
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find_package(Boost REQUIRED COMPONENTS system filesystem program_options)
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include_directories(${Boost_INCLUDE_DIR})
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find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)
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if( COLLADA_DOM_FOUND )
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include_directories(${COLLADA_DOM_INCLUDE_DIRS})
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link_directories(${COLLADA_DOM_LIBRARY_DIRS})
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endif()
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include_directories(${TinyXML_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
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link_directories(${catkin_LIBRARY_DIRS})
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add_library(${PROJECT_NAME} src/collada_urdf.cpp)
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target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
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${Boost_LIBRARIES} ${ASSIMP_LIBRARIES})
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set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
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set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}")
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add_executable(urdf_to_collada src/urdf_to_collada.cpp)
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target_link_libraries(urdf_to_collada ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
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${Boost_LIBRARIES} ${PROJECT_NAME})
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add_executable(collada_to_urdf src/collada_to_urdf.cpp)
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target_link_libraries(collada_to_urdf ${ASSIMP_LIBRARIES} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES} ${Boost_LIBRARIES})
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set_target_properties(collada_to_urdf PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
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set_target_properties(collada_to_urdf PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}")
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if(CATKIN_ENABLE_TESTING)
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catkin_add_gtest(test_collada_urdf test/test_collada_urdf.cpp WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test)
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target_link_libraries(test_collada_urdf ${PROJECT_NAME} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
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${Boost_LIBRARIES})
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endif()
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install(TARGETS ${PROJECT_NAME} urdf_to_collada collada_to_urdf
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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