cmake_minimum_required(VERSION 3.7)
project(iamcar)

IF(PLANNER)
        ADD_DEFINITIONS(-DPLANNER=${PLANNER})
ENDIF(PLANNER)
IF(TMAX)
        ADD_DEFINITIONS(-DTMAX=${TMAX})
ENDIF(TMAX)
IF(USE_GL)
        ADD_DEFINITIONS(-DUSE_GL=1)
ENDIF(USE_GL)
IF(USE_SLOTPLANNER)
        ADD_DEFINITIONS(-DUSE_SLOTPLANNER=1)
ENDIF(USE_SLOTPLANNER)

find_package(OpenMP)
if (OPENMP_FOUND)
    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
    set (CMAKE_EXE_LINKER_FLAGS
            "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endif()

add_compile_options(-Wall -g -Wno-unknown-pragmas)
include_directories(incl)
add_executable(go_car_go

        base/main.cc

        base/rrtbase.cc
        base/rrtnode.cc

        decision_control/rrtplanner.cc
        decision_control/slotplanner.cc

        perception/obstacle.cc

        vehicle_platform/bcar.cc
        vehicle_platform/cost.cc
        vehicle_platform/dubins.cc
        vehicle_platform/reeds_shepp.cpp
        vehicle_platform/steer.cc
)

target_link_libraries(go_car_go jsoncpp)
IF (USE_GL)
        target_link_libraries(go_car_go SDL2)
        target_link_libraries(go_car_go GL)
        target_link_libraries(go_car_go GLU)
ENDIF (USE_GL)
IF (PLANNER MATCHES "T3")
        target_link_libraries(go_car_go pthread)
ENDIF (PLANNER MATCHES "T3")