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Commit 2e391772 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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fixed CMakeLists pinoccio as optional dependency for demos

parent 9e187bb8
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1 merge request!18Release after RAL
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fext-numeric-literals") # necessary for files using boost
FIND_PACKAGE(pinocchio REQUIRED)
FIND_PACKAGE(multicontact-api REQUIRED)
FIND_PACKAGE(pinocchio QUIET)
FIND_PACKAGE(multicontact-api QUIET)
# SYSTEM disables warnings from library headers
include_directories(
SYSTEM ${PINOCCHIO_INCLUDE_DIRS}
)
add_library(mcapi_utils mcapi_utils.cpp)
# add_executable(mcapi_povcdl_estimation mcapi_povcdl_estimation.cpp)
# target_link_libraries(mcapi_povcdl_estimation
# mcapi_utils
# ${wolfcore_LIBRARIES}
# ${wolfimu_LIBRARIES}
# ${PLUGIN_NAME}
# ${multicontact-api_LIBRARIES}
# ${pinocchio_LIBRARIES}
# )
# target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
# add_executable(mcapi_pov_estimation mcapi_pov_estimation.cpp)
# target_link_libraries(mcapi_pov_estimation
# mcapi_utils
# ${wolfcore_LIBRARIES}
# ${wolfimu_LIBRARIES}
# ${PLUGIN_NAME}
# ${multicontact-api_LIBRARIES}
# ${pinocchio_LIBRARIES}
# )
# target_compile_definitions(mcapi_pov_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
add_executable(solo_real_povcdl_estimation solo_real_povcdl_estimation.cpp)
target_link_libraries(solo_real_povcdl_estimation
mcapi_utils
${wolfcore_LIBRARIES}
${wolfimu_LIBRARIES}
${PLUGIN_NAME}
${pinocchio_LIBRARIES}
/usr/local/lib/libcnpy.so
z
)
add_executable(solo_real_pov_estimation solo_real_pov_estimation.cpp)
target_link_libraries(solo_real_pov_estimation
mcapi_utils
${wolfcore_LIBRARIES}
${wolfimu_LIBRARIES}
${PLUGIN_NAME}
${pinocchio_LIBRARIES}
/usr/local/lib/libcnpy.so
z
)
add_executable(solo_mocap_imu solo_mocap_imu.cpp)
target_link_libraries(solo_mocap_imu
${wolfcore_LIBRARIES}
${wolfimu_LIBRARIES}
${PLUGIN_NAME}
${pinocchio_LIBRARIES}
/usr/local/lib/libcnpy.so
z
)
if (pinocchio_FOUND)
# SYSTEM disables warnings from library headers
include_directories(
SYSTEM ${PINOCCHIO_INCLUDE_DIRS}
)
add_library(mcapi_utils mcapi_utils.cpp)
# add_executable(mcapi_povcdl_estimation mcapi_povcdl_estimation.cpp)
# target_link_libraries(mcapi_povcdl_estimation
# mcapi_utils
# ${wolfcore_LIBRARIES}
# ${wolfimu_LIBRARIES}
# ${PLUGIN_NAME}
# ${multicontact-api_LIBRARIES}
# ${pinocchio_LIBRARIES}
# )
# target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
# add_executable(mcapi_pov_estimation mcapi_pov_estimation.cpp)
# target_link_libraries(mcapi_pov_estimation
# mcapi_utils
# ${wolfcore_LIBRARIES}
# ${wolfimu_LIBRARIES}
# ${PLUGIN_NAME}
# ${multicontact-api_LIBRARIES}
# ${pinocchio_LIBRARIES}
# )
# target_compile_definitions(mcapi_pov_estimation PRIVATE ${PINOCCHIO_CFLAGS_OTHER})
add_executable(solo_real_povcdl_estimation solo_real_povcdl_estimation.cpp)
target_link_libraries(solo_real_povcdl_estimation
mcapi_utils
${wolfcore_LIBRARIES}
${wolfimu_LIBRARIES}
${PLUGIN_NAME}
${pinocchio_LIBRARIES}
/usr/local/lib/libcnpy.so
z
)
add_executable(solo_real_pov_estimation solo_real_pov_estimation.cpp)
target_link_libraries(solo_real_pov_estimation
mcapi_utils
${wolfcore_LIBRARIES}
${wolfimu_LIBRARIES}
${PLUGIN_NAME}
${pinocchio_LIBRARIES}
/usr/local/lib/libcnpy.so
z
)
add_executable(solo_mocap_imu solo_mocap_imu.cpp)
target_link_libraries(solo_mocap_imu
${wolfcore_LIBRARIES}
${wolfimu_LIBRARIES}
${PLUGIN_NAME}
${pinocchio_LIBRARIES}
/usr/local/lib/libcnpy.so
z
)
endif()
# add_executable(test_cnpy test_cnpy.cpp)
# target_link_libraries(test_cnpy
......
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