humotion

cmake_minimum_required(VERSION 2.8.3)

project(humotion)

set(ENV{ROS_LANG_DISABLE} "genjava")

set(ROS_BUILD_TYPE Debug)

#######################################

# check if we have RSB support:

FIND_PACKAGE(RSB 0.11)

IF (RSB_FOUND)

    #RSB

    SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/")

    FIND_PACKAGE(RSC 0.11 REQUIRED)

    FIND_PACKAGE(RSB 0.11 REQUIRED)

    #RST

    FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox)

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})

    ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})

    LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})

    #RSB

    SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/")

    FIND_PACKAGE(RSC 0.11 REQUIRED)

    FIND_PACKAGE(RSB 0.11 REQUIRED)

    #RST

    FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox)

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})

    ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})

    LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})

    message(STATUS "RSB Support is ON")

    add_definitions(-DRSB_SUPPORT=1)

ENDIF (RSB_FOUND)

################################################################

# check for ROS support:

find_package(catkin)

IF (catkin_FOUND)

    SET(ROS_FOUND 1)

    find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs message_generation genmsg)

    message(STATUS "ROS Support is ON")

    add_definitions(-DROS_SUPPORT=1)

ENDIF (catkin_FOUND)

INCLUDE(FindPkgConfig)

##libreflexxes

IF (libreflexxes_DIR)

  MESSAGE("using libreflexxes_DIR as override ('${libreflexxes_DIR}')")

  SET(REFLEXXES_PREFIX ${libreflexxes_DIR})

ELSE ()

  PKG_CHECK_MODULES(REFLEXXES REQUIRED libReflexxesTypeII>=1.2.3)

  IF (NOT REFLEXXES_FOUND)

    message(FATAL_ERROR "Error: could not find lib libReflexxesTypeII")

  ENDIF ()

ENDIF()

IF (NOT catkin_FOUND)

    IF (NOT RSB_FOUND)

        message(FATAL_ERROR "Error: could neither find RSB or ROS middleware!")

    ENDIF (NOT RSB_FOUND)

ENDIF (NOT catkin_FOUND)

SET(REFLEXXES_LIBRARY_DIRS "${REFLEXXES_PREFIX}/lib")

SET(REFLEXXES_INCLUDE_DIRS "${REFLEXXES_PREFIX}/include")

MESSAGE("using libReflexxesTypeII version ${REFLEXXES_VERSION} from ${REFLEXXES_INCLUDE_DIRS} and ${REFLEXXES_LIBRARY_DIRS}")

set(CMAKE_CXX_FLAGS "-g -Wall")

add_definitions ("-Wall")

IF (catkin_FOUND)

    #######################################

    ## Declare ROS messages and services ##

    #######################################

    add_message_files(

            FILES

            gaze.msg

            position_lcr.msg

            mouth.msg

    )

    ## Generate added messages and services with any dependencies listed here

    generate_messages(

            DEPENDENCIES

            std_msgs

            humotion

    )

    #

    ###################################

    ## catkin specific configuration ##

    ###################################

    ## The catkin_package macro generates cmake config files for your package

    ## Declare things to be passed to dependent projects

    ## INCLUDE_DIRS: uncomment this if you package contains header files

    ## LIBRARIES: libraries you create in this project that dependent projects also need

    ## CATKIN_DEPENDS: catkin_packages dependent projects also need

    ## DEPENDS: system dependencies of this project that dependent projects also need

    catkin_package(

        INCLUDE_DIRS include

        LIBRARIES humotion

        #CATKIN_DEPENDS message_runtime

        #DEPENDS system_lib

    )

ENDIF (catkin_FOUND)

###########

## Build ##

###########

## Specify additional locations of header files

## Your package locations should be listed before other locations

include_directories (BEFORE ${Boost_INCLUDE_DIRS} ${REFLEXXES_INCLUDE_DIRS})

include_directories(include)

include_directories( ${catkin_INCLUDE_DIRS})

link_directories (${Boost_LIBRARY_DIRS} ${REFLEXXES_LIBRARY_DIRS} ${catkin_LIBRARY_DIRS})

file(GLOB DUMMY_HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h  include/client/*.h  include/server/*.h srv/*.srv msg/*.msg etc/*)

## Declare a cpp library

add_library(humotion

    src/mouth_state.cpp

    src/gaze_state.cpp

    src/client/client.cpp

    src/client/middleware.cpp

    src/client/middleware_ros.cpp

    src/client/middleware_rsb.cpp

    src/server/server.cpp

    src/server/middleware.cpp

    src/server/middleware_ros.cpp

    src/server/middleware_rsb.cpp

    src/server/controller.cpp

    src/server/joint_interface.cpp

    src/server/motion_generator.cpp

    src/server/gaze_motion_generator.cpp

    src/server/reflexxes_motion_generator.cpp

    src/server/mouth_motion_generator.cpp

    src/server/eye_motion_generator.cpp

    src/server/eyelid_motion_generator.cpp

    src/server/eyebrow_motion_generator.cpp

    src/server/neck_motion_generator.cpp

    src/timestamped_list.cpp

    ${DUMMY_HEADER_LIST}

)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")

## Add cmake target dependencies of the executable/library

## as an example, message headers may need to be generated before nodes

add_dependencies(humotion ${catkin_EXPORTED_TARGETS} humotion_gencpp)

## Specify libraries to link a library or executable target against

target_link_libraries(humotion

			${Boost_LIBRARIES} 

			${catkin_LIBRARIES}

                        ${REFLEXXES_LIBRARIES}

                        ${RST_LIBRARIES}

                        ${RSB_LIBRARIES}

)

set_property(TARGET humotion PROPERTY INSTALL_RPATH_USE_LINK_PATH TRUE)

#############

## Install ##

#############

# all install targets should use catkin DESTINATION variables

# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation

## in contrast to setup.py, you can choose the destination

# install(PROGRAMS

#   scripts/my_python_script

#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

# )

## Mark executables and/or libraries for installation

IF (catkin_FOUND)

    install(TARGETS humotion

        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

    )

    ## Mark cpp header files for installation

    install(DIRECTORY include/

        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

        PATTERN ".svn" EXCLUDE

    )

ENDIF (catkin_FOUND)

#############

## Testing ##

#############

IF (catkin_FOUND)

    ## Add gtest based cpp test target and link libraries

    catkin_add_gtest(${PROJECT_NAME}-test-server test/server.cpp)

    if(TARGET ${PROJECT_NAME}-test-server)

    target_link_libraries(${PROJECT_NAME}-test-server ${PROJECT_NAME})

    endif()

    catkin_add_gtest(${PROJECT_NAME}-test-client test/client.cpp)

    if(TARGET ${PROJECT_NAME}-test-client)

    target_link_libraries(${PROJECT_NAME}-test-client ${PROJECT_NAME})

    endif()

ENDIF (catkin_FOUND)

### Add folders to be run by python nosetests

# catkin_add_nosetests(test)

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# [hu]man [motion] low-level robot ontrol library

this is the low level robot control software to allow

human like motion generation on a humanoid robotic head

PROJECT(icub_humotion)

cmake_minimum_required(VERSION 2.8)

FIND_PACKAGE(YARP)

FIND_PACKAGE(ICUB)

FIND_PACKAGE(Boost REQUIRED COMPONENTS system thread)

FIND_PACKAGE(humotion)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")

# add include directories

INCLUDE_DIRECTORIES(${YARP_INCLUDE_DIRS} ${ICUB_INCLUDE_DIRS} ${humotion_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} include/)

link_directories(${Boost_LIBRARY_DIRS} ${humotion_LIBRARY_DIRS})

# add required linker flags

SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${ICUB_LINK_FLAGS}")

SET(MAIN icub_humotion_server)

file(GLOB DUMMY_HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h)

ADD_EXECUTABLE(${MAIN} src/main.cpp src/icub_jointinterface.cpp src/icub_data_receiver.cpp ${DUMMY_HEADER_LIST})

# we now add the YARP and iCub libraries to our project.

TARGET_LINK_LIBRARIES(${MAIN} ${Boost_LIBRARIES} ${YARP_LIBRARIES} ${ICUB_LIBRARIES} ${humotion_LIBRARIES})

set_property(TARGET ${MAIN} PROPERTY INSTALL_RPATH_USE_LINK_PATH TRUE)

INSTALL(TARGETS ${MAIN} DESTINATION bin)

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