cmake_minimum_required(VERSION 3.5.1)
project(QuadrupedControl)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(COMMON_INCLUDE_DIR ${CMAKE_SOURCE_DIR}/custom/include)
set(COMMON_LIBRARY_DIR ${CMAKE_SOURCE_DIR}/custom/lib)
set(COMMON_INSTALL_DIR ${CMAKE_SOURCE_DIR}/custom/install)

include_directories(
    ${COMMON_INCLUDE_DIR}
)

list(APPEND CMAKE_INSTALL_RPATH ${COMMON_INSTALL_DIR}/lib)
list(APPEND CMAKE_INSTALL_RPATH ${COMMON_LIBRARY_DIR})
list(APPEND CMAKE_INSTALL_RPATH /opt/ros/foxy/lib)

# Add subdirectories
# add_subdirectory(robots)
add_subdirectory(src/utils)
add_subdirectory(src/dynamics)
add_subdirectory(src/communication)
add_subdirectory(src/execution)
add_subdirectory(src/robot_simulation)