FastPlanner-2d/CMakeLists.txt at master · MotionPlanner/FastPlanner-2d · GitHub

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cmake_minimum_required (VERSION 3.5)

project (FastPlanner)

add_compile_options(-w)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -std=c++17")

find_package(Eigen3 REQUIRED)
find_package(NLopt REQUIRED )
find_package(PythonLibs REQUIRED)

message("EIGEN3_INCLUDE_DIR: ${EIGEN3_INCLUDE_DIR} ")
if (Eigen3_FOUND)
    message(STATUS "Eigen3 =======================================")
    message(STATUS "Found Eigen3: ${EIGEN3_INCLUDE_DIR}")
else()
    message(FATAL_ERROR "Could not find Eigen3")
endif()

if (PythonLibs_FOUND)
    message(STATUS "Python =======================================")
    message(STATUS "Python Includes: ${PYTHON_INCLUDE_DIRS}")
    message(STATUS "Python Libraries: ${PYTHON_LIBRARIES}")
else()
    message(FATAL_ERROR "Could not find PythonLibs")
endif()

include_directories(
    trajopt_bspline/include/grad_replanner
    trajopt_bspline/include
    localmap_esdf/include
    ${EIGEN3_INCLUDE_DIR}
    ${PYTHON_INCLUDE_DIRS}
)

add_subdirectory(trajopt_bspline)
add_subdirectory(localmap_esdf)

add_executable(main main.cpp)
target_link_libraries(main  local_map trajopt)