61 lines
2.0 KiB
CMake
61 lines
2.0 KiB
CMake
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cmake_minimum_required(VERSION 3.8)
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project(qpoases_colcon)
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set(CMAKE_BUILD_TYPE Release)
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# find dependencies
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find_package(ament_cmake REQUIRED)
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include(FetchContent)
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# Define directories
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set(QPOASES_DEVEL_PREFIX ${CMAKE_INSTALL_PREFIX} CACHE STRING "QPOASES install path")
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set(QPOASES_INCLUDE_DIR ${QPOASES_DEVEL_PREFIX}/include)
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set(QPOASES_LIB_DIR ${QPOASES_DEVEL_PREFIX}/lib)
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set(QPOASES_DOWNLOAD_DIR ${CMAKE_CURRENT_BINARY_DIR}/download)
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set(QPOASES_BUILD_DIR ${CMAKE_CURRENT_BINARY_DIR}/build)
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# Create directories if they do not exist
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file(MAKE_DIRECTORY ${QPOASES_INCLUDE_DIR})
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file(MAKE_DIRECTORY ${QPOASES_LIB_DIR})
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file(MAKE_DIRECTORY ${QPOASES_DOWNLOAD_DIR})
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file(MAKE_DIRECTORY ${QPOASES_BUILD_DIR})
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# QPOASES Settings
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set(BUILD_SHARED_LIBS ON CACHE STRING "Build shared libraries" FORCE)
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set(QPOASES_BUILD_EXAMPLES OFF CACHE BOOL "Examples disable")
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# Download & build source
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FetchContent_Declare(qpoasesDownload
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GIT_REPOSITORY https://github.com/coin-or/qpOASES
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UPDATE_COMMAND ""
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SOURCE_DIR ${QPOASES_DOWNLOAD_DIR}
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BINARY_DIR ${QPOASES_BUILD_DIR}
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BUILD_COMMAND $(MAKE)
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INSTALL_COMMAND "$(MAKE) install"
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)
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FetchContent_MakeAvailable(qpoasesDownload)
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# Copy header to where ament_cmake expects them
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file(COPY ${QPOASES_DOWNLOAD_DIR}/include/qpOASES.hpp DESTINATION ${QPOASES_INCLUDE_DIR})
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file(GLOB_RECURSE HEADERS "${QPOASES_DOWNLOAD_DIR}/include/qpOASES/*")
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foreach (HEADER_FILE ${HEADERS})
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message(STATUS "FOUND HEADER: " ${HEADER_FILE})
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file(COPY ${HEADER_FILE} DESTINATION ${QPOASES_INCLUDE_DIR}/qpOASES)
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endforeach ()
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file(GLOB_RECURSE HEADERS "${QPOASES_DOWNLOAD_DIR}/include/qpOASES/extras/*")
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foreach (HEADER_FILE ${HEADERS})
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message(STATUS "FOUND HEADER: " ${HEADER_FILE})
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file(COPY ${HEADER_FILE} DESTINATION ${QPOASES_INCLUDE_DIR}/qpOASES/extras)
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endforeach ()
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# Propagate dependencies
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ament_export_include_directories(${QPOASES_INCLUDE_DIR})
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ament_export_libraries(qpOASES)
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install(TARGETS qpOASES
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LIBRARY DESTINATION lib)
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ament_package()
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