CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(ik_rss_solver)

find_package(catkin REQUIRED COMPONENTS
  exotica_core
)

find_package(LAPACK REQUIRED)

AddInitializer(IKRSSSolver)
GenInitializers()

catkin_package(
	INCLUDE_DIRS include
	LIBRARIES ik_rss_solver
    CATKIN_DEPENDS exotica_core
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_library(${PROJECT_NAME}
  src/ik_rss_solver/IKSolver.cpp
)
target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES} ${LAPACK_LIBRARIES}
)
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_initializers)

install(TARGETS ${PROJECT_NAME}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY include/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(FILES exotica_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})