Load goals if present in JSON input

[hubacji1/iamcar.git] / CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3f4d661ce10e021ec98075bd29279b072edeb9c7..6893951587f25192ee2879d0aa046e7f4a303377 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.7)
-project(niam_car)
+project(iamcar)
 
 IF(PLANNER)
         ADD_DEFINITIONS(-DPLANNER=${PLANNER})
@@ -7,23 +7,12 @@ ENDIF(PLANNER)
 IF(TMAX)
         ADD_DEFINITIONS(-DTMAX=${TMAX})
 ENDIF(TMAX)
-IF(NN)
-        ADD_DEFINITIONS(-DNN=${NN})
-ENDIF(NN)
-IF(NV)
-        ADD_DEFINITIONS(-DNV=${NV})
-ENDIF(NV)
-IF(ST)
-        ADD_DEFINITIONS(-DST=${ST})
-ENDIF(ST)
-
-IF(NNVERSION)
-        ADD_DEFINITIONS(-DNNVERSION=${NNVERSION})
-ENDIF(NNVERSION)
-
-IF(NVVERSION)
-        ADD_DEFINITIONS(-DNVVERSION=${NVVERSION})
-ENDIF(NVVERSION)
+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)
@@ -39,23 +28,27 @@ add_executable(go_car_go
 
         base/main.cc
 
-        base/nn.cc
-        base/nv.cc
-        base/sample.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)
-target_link_libraries(go_car_go SDL2)
-target_link_libraries(go_car_go GL)
-target_link_libraries(go_car_go GLU)
+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")