cmake_minimum_required(VERSION 2.8.3)
project(orunav_motion_planner)

set(CMAKE_BUILD_TYPE Release)
find_package(catkin REQUIRED COMPONENTS
  cmake_modules
  roscpp
  std_msgs
  nav_msgs
  cv_bridge
  orunav_msgs
  orunav_generic
  orunav_rviz
  orunav_conversions
  orunav_geometry
)
find_package(OpenCV REQUIRED)

find_package(Eigen3)
if(NOT EIGEN3_FOUND)
  # Fallback to cmake_modules
  find_package(cmake_modules REQUIRED)
  find_package(Eigen REQUIRED)
  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
else()
  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system program_options thread)
if (${Boost_VERSION} LESS 106500)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBOOST_MATH_DISABLE_FLOAT128")
endif()

#SET(CMAKE_CXX_FLAGS "-std=c++11 -O3")
  add_definitions(-std=c++11)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES orunav_motion_planner
  CATKIN_DEPENDS roscpp std_msgs nav_msgs cv_bridge orunav_msgs orunav_generic orunav_rviz orunav_conversions orunav_geometry
  DEPENDS Boost
)

###########
## Build ##
###########

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
)

## Declare a cpp executable
add_executable(get_path_service src/get_path_service.cpp
  src/ARAStarPathPlanner.cpp
  src/AStar.cpp
  src/AStarPathPlanner.cpp
  src/CarConfiguration.cpp
  src/CarModel.cpp
  src/CollisionDetector.cpp
  src/Configuration.cpp
  src/DiscWorldVisualizer.cpp
  src/LHDConfiguration.cpp
  src/LHDModel.cpp
  src/MapGenerators.cpp
  src/MotionPrimitiveData.cpp
  src/MotionPrimitiveSelector.cpp
  src/PathFinder.cpp
  src/PathNode.cpp
  src/UnicycleConfiguration.cpp
  src/UnicycleModel.cpp
  src/Utils.cpp
  src/VehicleMission.cpp
  src/VehicleModel.cpp
  src/World.cpp
  src/WorldOccupancyMap.cpp
  src/WorldParameters.cpp
)
add_dependencies(get_path_service ${catkin_EXPORTED_TARGETS})
target_link_libraries(get_path_service
#  orunav_motion_planner 
${catkin_LIBRARIES} ${OpenCV_LIBS}
)

add_executable(get_path_client src/get_path_client.cpp)
add_dependencies(get_path_client ${catkin_EXPORTED_TARGETS})
target_link_libraries(get_path_client
  ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OpenCV_LIBS}
)

#############
## Install ##
#############

install(TARGETS get_path_service get_path_client
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY
  include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

install(DIRECTORY
  LookupTables
  Primitives
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)