CMakeLists.txt

project(GazeboXBotPlugin)
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

find_package(gazebo REQUIRED)
find_package(XBotCoreModel REQUIRED)
find_package(XCM REQUIRED)
find_package(boost QUIET)
find_package(sharedlibpp REQUIRED)
find_package(kdl_parser REQUIRED)

include_directories(include
                    ${GAZEBO_INCLUDE_DIRS}
                    ${XBotCoreModel_INCLUDE_DIRS}
                    ${kdl_parser_INCLUDE_DIRS}
                    ${sharedlibpp_INCLUDE_DIRS}
                    ${XCM_INCLUDE_DIRS}
                    )

link_directories(${GAZEBO_LIBRARY_DIRS} )

list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")

# C++ 11
include(CheckCXXCompilerFlag)
check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()




# JointController
add_library(JointController SHARED src/JointController.cpp)
target_link_libraries(JointController ${GAZEBO_LIBRARIES} )



add_library(JointImpedanceController SHARED src/JointImpedanceController.cpp)
target_link_libraries(JointImpedanceController JointController ${GAZEBO_LIBRARIES} )


add_library(DefaultGazeboPID SHARED src/DefaultGazeboPID.cpp)
target_link_libraries(DefaultGazeboPID JointController ${GAZEBO_LIBRARIES} )

add_library(GazeboXBotJoint SHARED src/GazeboXBotJoint.cpp)
target_link_libraries(GazeboXBotJoint   ${GAZEBO_LIBRARIES}
                                        yaml-cpp
                                        JointImpedanceController )

add_library(GazeboXBotImu SHARED src/GazeboXBotImu.cpp)
target_link_libraries(GazeboXBotImu ${GAZEBO_LIBRARIES} )

add_library(GazeboXBotFt SHARED src/GazeboXBotFt.cpp)
target_link_libraries(GazeboXBotFt ${GAZEBO_LIBRARIES} )

add_library(GazeboXBotHand SHARED src/GazeboXBotHand.cpp)
target_link_libraries(GazeboXBotHand ${GAZEBO_LIBRARIES} )

# GazeboXBotPlugin
add_library(GazeboXBotPlugin SHARED src/GazeboXBotPlugin.cpp)
target_link_libraries(GazeboXBotPlugin ${GAZEBO_LIBRARIES}
                                       ${Boost_LIBRARIES}
                                       ${XBotCoreModel_LIBRARIES}
                                       ${sharedlibpp_LIBRARIES}
                                       ${XCM_LIBRARIES}
                                       yaml-cpp
                                       JointController
                                       DefaultGazeboPID
                                       JointImpedanceController
                                       GazeboXBotJoint
                                       GazeboXBotImu
                                       GazeboXBotFt
                                       GazeboXBotHand
                                       )

install(TARGETS GazeboXBotPlugin RUNTIME LIBRARY DESTINATION lib)
install(DIRECTORY include/
        DESTINATION include
        FILES_MATCHING PATTERN "*.h*")

install(TARGETS JointController RUNTIME LIBRARY DESTINATION lib)
install(DIRECTORY include/
        DESTINATION include
        FILES_MATCHING PATTERN "*.h*")

install(TARGETS JointImpedanceController RUNTIME LIBRARY DESTINATION lib)
install(DIRECTORY include/
        DESTINATION include
        FILES_MATCHING PATTERN "*.h*")

install(TARGETS DefaultGazeboPID RUNTIME LIBRARY DESTINATION lib)
install(DIRECTORY include/
        DESTINATION include
        FILES_MATCHING PATTERN "*.h*")

install(TARGETS GazeboXBotJoint RUNTIME LIBRARY DESTINATION lib)
install(TARGETS GazeboXBotImu RUNTIME LIBRARY DESTINATION lib)
install(TARGETS GazeboXBotFt RUNTIME LIBRARY DESTINATION lib)
install(TARGETS GazeboXBotHand RUNTIME LIBRARY DESTINATION lib)