CMakeLists.txt

cmake_minimum_required(VERSION 3.10)
project(franka_control)

# minimum C++ version
set(CMAKE_CXX_STANDARD 17)


find_package(Franka REQUIRED)
find_package(ZeroMQ QUIET)
find_package(cppzmq REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Poco REQUIRED COMPONENTS Foundation)
# find_package(pinocchio REQUIRED)

include_directories(${Franka_INCLUDE_DIRS} ${CMAKE_CURRENT_LIST_DIR}/include)
include_directories(${pinocchio_INCLUDE_DIRS})
link_directories(${Franka_INCLUDE_DIRS})
# link_directories(${pinocchio_LIBRARY_DIRS})

# link libraries 
# SET(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/models")

#build franka_control
# define source files 
file(GLOB_RECURSE FRANKA_CONTROL_SRC ${CMAKE_CURRENT_LIST_DIR}/src/*.cpp )
list(REMOVE_ITEM FRANKA_CONTROL_SRC ${CMAKE_CURRENT_LIST_DIR}/src/runners/read_states.cpp )
add_executable(franka_control ${FRANKA_CONTROL_SRC})
target_link_libraries(franka_control  PUBLIC Franka::Franka libzmq ${Franka} ${cppzmq} Eigen3::Eigen )

# build read_states
file( GLOB_RECURSE FRANKA_READ_STATES ${CMAKE_CURRENT_LIST_DIR}/src/runners/read_states.cpp )
add_executable(read_states ${FRANKA_READ_STATES})
target_link_libraries(read_states PUBLIC Franka::Franka libzmq ${Franka} ${cppzmq} Eigen3::Eigen )


#[[build tests

set(TESTS
    joint_position
    joint_velocity
    cartesian_pose 
    cartesian_velocity
)

foreach(test ${TESTS})
    file(GLOB_RECURSE TESTS_SRC ${CMAKE_CURRENT_LIST_DIR}/tests/${test}.cpp ${CMAKE_CURRENT_LIST_DIR}/src/*.cpp)
    list(REMOVE_ITEM TESTS_SRC ${CMAKE_CURRENT_LIST_DIR}/src/runners/runner.cpp ${CMAKE_CURRENT_LIST_DIR}/src/runners/read_states.cpp )
    add_executable( test_${test} ${TESTS_SRC} )
    target_link_libraries(test_${test} PUBLIC Franka::Franka libzmq ${Franka} ${cppzmq} Eigen3::Eigen Poco::Foundation)
endforeach() ]]