CMakeLists.txt

# Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT). All rights reserved.
# This software may be modified and distributed under the terms of the
# BSD-3-Clause license.

if (FRAMEWORK_COMPILE_Planners)

  set(H_PREFIX include/BipedalLocomotion/Planners)

  add_bipedal_locomotion_library(
    NAME Planners
    PUBLIC_HEADERS
    ${H_PREFIX}/ConvexHullHelper.h
    ${H_PREFIX}/DCMPlanner.h
    ${H_PREFIX}/TimeVaryingDCMPlanner.h
    ${H_PREFIX}/Spline.h
    ${H_PREFIX}/QuinticSpline.h
    ${H_PREFIX}/SO3Planner.h
    ${H_PREFIX}/SO3Planner.tpp
    ${H_PREFIX}/SwingFootPlanner.h
    ${H_PREFIX}/CubicSpline.h
    SOURCES
    src/ConvexHullHelper.cpp
    src/DCMPlanner.cpp
    src/TimeVaryingDCMPlanner.cpp
    src/QuinticSpline.cpp
    src/SwingFootPlanner.cpp
    src/CubicSpline.cpp
    PUBLIC_LINK_LIBRARIES
    Eigen3::Eigen
    BipedalLocomotion::ParametersHandler
    BipedalLocomotion::System
    BipedalLocomotion::Contacts
    PRIVATE_LINK_LIBRARIES
    Qhull::qhull_r
    casadi
    iDynTree::idyntree-core
    BipedalLocomotion::Math
    BipedalLocomotion::TextLogging
    INSTALLATION_FOLDER Planners)

  add_subdirectory(tests)

endif()

if (FRAMEWORK_COMPILE_Unicycle)

  set(H_PREFIX include/BipedalLocomotion/Planners)

  add_bipedal_locomotion_library(
    NAME Unicycle
    PUBLIC_HEADERS
    ${H_PREFIX}/UnicyclePlanner.h
    SOURCES
    src/UnicyclePlanner.cpp
    PUBLIC_LINK_LIBRARIES
    BipedalLocomotion::ParametersHandler
    BipedalLocomotion::System
    BipedalLocomotion::Contacts
    Eigen3::Eigen
    PRIVATE_LINK_LIBRARIES
    BipedalLocomotion::TextLogging
    iDynTree::idyntree-core
    UnicyclePlanner
    INSTALLATION_FOLDER Planners)

endif()