CMakeLists.txt

cmake_minimum_required(VERSION 3.16)

# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
# Default to GLVND if available.
set(CMAKE_POLICY_DEFAULT_CMP0072 NEW)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")

# This line has to appear before 'PROJECT' in order to be able to disable incremental linking
set(MSVC_INCREMENTAL_DEFAULT ON)

project(
  fixed_point_controller
  VERSION 0.1.0
  DESCRIPTION "QP controller with fixed point floating point numbers"
  HOMEPAGE_URL ""
)

enable_language(C)
enable_language(CXX)
if(APPLE)
  enable_language(OBJC)
  enable_language(OBJCXX)
endif()

# Check if we are building as standalone project.
set(SAMPLE_STANDALONE OFF)
set(_INSTALL_SAMPLES ON)
if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
  set(SAMPLE_STANDALONE ON)
  # If standalone, do not install the samples.
  set(_INSTALL_SAMPLES OFF)
endif()

list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")

if(SAMPLE_STANDALONE)
  include(SampleOptions)
else()
  enforce_mujoco_macosx_min_version()
endif()
include(SampleDependencies)

set(MUJOCO_SAMPLE_COMPILE_OPTIONS "${AVX_COMPILE_OPTIONS}" "${EXTRA_COMPILE_OPTIONS}")
set(MUJOCO_SAMPLE_LINK_OPTIONS "${EXTRA_LINK_OPTIONS}")

if(MUJOCO_HARDEN)
  if(WIN32)
    set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -Wl,/DYNAMICBASE)
  else()
    set(MUJOCO_SAMPLE_COMPILE_OPTIONS "${MUJOCO_SAMPLE_COMPILE_OPTIONS}" -fPIE)
    if(APPLE)
      set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -Wl,-pie)
    else()
      set(MUJOCO_SAMPLE_LINK_OPTIONS "${MUJOCO_SAMPLE_LINK_OPTIONS}" -pie)
    endif()
  endif()
endif()

# set to -O0 for debug build
SET(CMAKE_CXX_FLAGS_DEBUG "-O0")
SET(CMAKE_C_FLAGS_DEBUG "-O0")


# This mujoco is built by me and installed in /Users/alp/mujoco/install
if(APPLE)
  set(MUJOCO_FOLDER /Users/alp/mujoco/install/lib/cmake)
  find_package(mujoco REQUIRED PATHS ${MUJOCO_FOLDER})
else()
  #set(MUJOCO_FOLDER /mujoco-3.1.2/sample/cmake)
  #find_package(mujoco REQUIRED PATH ${MUJOCO_FOLDER})
  find_package(mujoco REQUIRED)
  endif()

if(APPLE)
  # https://github.com/stack-of-tasks/pinocchio/issues/1106
  link_directories("/usr/local/lib")
endif()
find_package(PkgConfig REQUIRED)
pkg_check_modules(pinocchio REQUIRED pinocchio)
find_package(Eigen3 3.3 REQUIRED NO_MODULE) # system installation


find_package(Boost)
find_package(osqp)

add_executable(trajectory_tracking include/pinocchio_plus/aba.hxx src/trajectory_tracking.cc)
target_compile_options(trajectory_tracking PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS} ${pinocchio_CFLAGS_OTHER})
target_link_libraries(
  trajectory_tracking
  mujoco::mujoco
  glfw
  Threads::Threads
  pinocchio
  osqp::osqp
  ${Boost_LIBRARIES}
  Eigen3::Eigen
)
target_include_directories(trajectory_tracking PUBLIC /usr/local/include ${CMAKE_CURRENT_SOURCE_DIR}/include ${Boost_INCLUDE_DIRS})
# may be needed in future!
#target_compile_options(trajectory_tracking PUBLIC $(pkg-config --cflags --libs pinocchio))
# Execute pkg-config to get compiler flags and linker flags for pinocchio
#execute_process(
#    COMMAND pkg-config --cflags --libs pinocchio
#    OUTPUT_VARIABLE PINOCCHIO_PKG_CONFIG
#    OUTPUT_STRIP_TRAILING_WHITESPACE
#)
# Add the flags to your target
#target_link_options(trajectory_tracking PUBLIC ${PINOCCHIO_PKG_CONFIG})

add_executable(arm_uniform_data include/pinocchio_plus/aba.hxx src/arm_uniform_fd_data_collection.cpp)
target_compile_options(arm_uniform_data PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS} ${pinocchio_CFLAGS_OTHER})
target_link_libraries(
  arm_uniform_data
  mujoco::mujoco
  glfw
  Threads::Threads
  pinocchio
  osqp::osqp
  ${Boost_LIBRARIES}
  Eigen3::Eigen
)
target_include_directories(arm_uniform_data PUBLIC /usr/local/include ${CMAKE_CURRENT_SOURCE_DIR}/include ${Boost_INCLUDE_DIRS})

# add_executable(daisy_test src/daisy_test.cpp)
# target_compile_options(daisy_test PUBLIC ${MUJOCO_SAMPLE_COMPILE_OPTIONS} ${pinocchio_CFLAGS_OTHER})
# target_link_libraries(
#  daisy_test
#  mujoco::mujoco
#  glfw
#  Threads::Threads
#  pinocchio
#  osqp::osqp
#  ${Boost_LIBRARIES}
#  Eigen3::Eigen
#)
#target_include_directories(daisy_test PUBLIC /usr/local/include ${CMAKE_CURRENT_SOURCE_DIR}/include ${Boost_INCLUDE_DIRS})

if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
  embed_in_bundle(basic simulate)
  embed_in_bundle(compile simulate)
  embed_in_bundle(record simulate)
endif()

# Do not install if macOS Bundles are created as RPATH is managed manually there.
if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
  set(_INSTALL_SAMPLES OFF)
endif()

if(_INSTALL_SAMPLES)

  include(TargetAddRpath)

  if(NOT MUJOCO_SAMPLES_USE_SYSTEM_GLFW)
    # We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
    # need to install it.
    get_target_property(MJ_GLFW_LIBRARY_TYPE glfw TYPE)
    if(MJ_GLFW_LIBRARY_TYPE STREQUAL SHARED_LIBRARY)
      install(
        TARGETS glfw
        EXPORT ${PROJECT_NAME}
        RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT samples
        LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
        ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT samples
        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT samples
      )
    endif()
  endif()
endif()