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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.1)
project(distributed_mpc)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
find_package(catkin REQUIRED COMPONENTS
roscpp
)
find_package(Eigen3 3.3 REQUIRED NO_MODULE)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
DEPENDS EIGEN3
)
include_directories( include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
add_library(
${PROJECT_NAME} src/distributed_mpc/d_mpc.cpp
)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} Eigen3::Eigen)
install(
TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(
DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
add_executable(mpc_node src/distributed_mpc/mpc_node.cpp)
target_link_libraries(mpc_node ${PROJECT_NAME} ${catkin_LIBRARIES})