CMakeLists.txt

CMAKE_MINIMUM_REQUIRED(VERSION 2.8.11)

PROJECT(torch-moveit)

FIND_PACKAGE(Torch REQUIRED)
find_package(Boost 1.47.0 REQUIRED COMPONENTS system)
find_package(catkin REQUIRED COMPONENTS
  moveit_ros_planning_interface
  tf
   tf_conversions
  roscpp
)

SET(SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/src")

SET(src
  "${SOURCE_DIR}/movegroup.cpp"
  "${SOURCE_DIR}/plan.cpp"
  "${SOURCE_DIR}/robotstate.cpp"
  "${SOURCE_DIR}/collision_object.cpp"
  "${SOURCE_DIR}/planning_scene_interface.cpp"
)

include_directories(
  ${Boost_INCLUDE_DIRS}
  ${Torch_INSTALL_INCLUDE}
  ${catkin_INCLUDE_DIRS}
)

LINK_DIRECTORIES(
  ${Torch_INSTALL_LIB}
  ${Boost_LIBRARY_DIRS}
)

FILE(GLOB luasrc *.lua)

ADD_LIBRARY(moveit MODULE ${src})

target_link_libraries(moveit TH ${catkin_LIBRARIES})

INSTALL(TARGETS moveit LIBRARY DESTINATION ${Torch_INSTALL_LUA_CPATH_SUBDIR})
#INSTALL(DIRECTORY "doc" DESTINATION "${Torch_INSTALL_LUA_PATH_SUBDIR}/moveit")
INSTALL(FILES "README.md" DESTINATION "${Torch_INSTALL_LUA_PATH_SUBDIR}/moveit")
INSTALL(FILES ${luasrc} DESTINATION "${Torch_INSTALL_LUA_PATH_SUBDIR}/moveit")