CMakeLists.txt

# 
#  Copyright (C) 2017 IIT-ADVR
#  Author: 
#  email: 
#
#  This program is free software: you can redistribute it and/or modify
#  it under the terms of the GNU Lesser General Public License as published by
#  the Free Software Foundation, either version 3 of the License, or
#  (at your option) any later version.
#
#  This program is distributed in the hope that it will be useful,
#  but WITHOUT ANY WARRANTY; without even the implied warranty of
#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
#  GNU Lesser General Public License for more details.
#
#  You should have received a copy of the GNU Lesser General Public License
#  along with this program. If not, see <http://www.gnu.org/licenses/>
#

# CMake 3.5.1 required 
cmake_minimum_required(VERSION 3.5.1)

#
set(CMAKE_EXPORT_COMPILE_COMMANDS 1)

# XBot RT Plugin
project(CartesianImpedanceControl)

# C++11
include(CheckCXXCompilerFlag)
check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

# Add cmake dir and include custom macros
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
include(MacroYCMInstallLibrary)

# find required packages
find_package(XCM REQUIRED)

# XENOMAI
set(ENABLE_XENO CACHE BOOL "ON")
if ( ${ENABLE_XENO} )
   find_package(Xenomai)
endif()

# include
include_directories(include/${PROJECT_NAME}
                    ${XCM_INCLUDE_DIRS}
                    )

# lib
add_library(${PROJECT_NAME} SHARED
    src/CartesianImpedanceControl_plugin.cpp
)
add_executable(${PROJECT_NAME}exe
            src/simpletest.cpp)

# set Xenomain flags if Xenomai is found
if ( Xenomai_FOUND )
    set_xeno_flags(${PROJECT_NAME})
endif()

# linking
target_link_libraries(${PROJECT_NAME} ${XCM_LIBRARIES})
target_link_libraries(${PROJECT_NAME}exe ${XCM_LIBRARIES})

#install
ycm_library_install(${PROJECT_NAME} 1 0 0)