Merge branch 'feature/slotplanner-sampling-info'

[hubacji1/iamcar.git] / CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0d8fbfd2f44005efe70182e9f2f766acafdc8eb4..9c2263ceadec0b204d3d1ebf62527e1cdba85e0d 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,6 +7,12 @@ 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)
@@ -29,17 +35,23 @@ add_executable(go_car_go
         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)
-target_link_libraries(go_car_go pthread)
+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")