cmake_minimum_required(VERSION 3.7)
-project(niam_car)
+project(iamcar)
-add_compile_options(-Wall -g)
+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/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)
+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")