cmake_minimum_required(VERSION 3.7)
project(niam_car)

IF(PLANNER)
        ADD_DEFINITIONS(-DPLANNER=${PLANNER})
ENDIF(PLANNER)
IF(TMAX)
        ADD_DEFINITIONS(-DTMAX=${TMAX})
ENDIF(TMAX)
IF(NN)
        ADD_DEFINITIONS(-DNN=${NN})
ENDIF(NN)
IF(NV)
        ADD_DEFINITIONS(-DNV=${NV})
ENDIF(NV)
IF(SA)
        ADD_DEFINITIONS(-DSA=${SA})
ENDIF(SA)
IF(ST)
        ADD_DEFINITIONS(-DST=${ST})
ENDIF(ST)
IF(CO)
        ADD_DEFINITIONS(-DCO=${CO})
ENDIF(CO)
IF(CCO)
        ADD_DEFINITIONS(-DCCO=${CCO})
ENDIF(CCO)

IF(NNVERSION)
        ADD_DEFINITIONS(-DNNVERSION=${NNVERSION})
ENDIF(NNVERSION)

add_compile_options(-Wall -g)
include_directories(incl)
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

        perception/obstacle.cc

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

target_link_libraries(go_car_go jsoncpp)