129 lines
4.6 KiB
Diff
Executable File
129 lines
4.6 KiB
Diff
Executable File
diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 4c7e690..4b391b5 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -73,12 +73,15 @@ set_package_properties(OpenGL PROPERTIES
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URL "http://opengl.org"
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PURPOSE "Used to render graphics in ompl_app.")
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set(OpenGL_GL_PREFERENCE GLVND)
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-find_package(OpenGL)
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+if (OMPLAPP_WITH_OPENGL)
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+find_package(OpenGL REQUIRED)
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+endif()
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set_package_properties(Python PROPERTIES
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URL "http://python.org"
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PURPOSE "Used for python bindings.")
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# This includes our own FindPython.cmake in ompl/CMakeModules. It defines,
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# among other things, the find_python_module() function used below.
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+if (OMPLAPP_WITH_PYTHON)
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find_package(Python)
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find_boost_python()
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@@ -105,55 +108,76 @@ find_python_module(OpenGL)
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if (NOT OPENGL_FOUND OR NOT PY_OPENGL)
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message(WARNING "Both OpenGL and the Python OpenGL module need to be installed to use the GUI")
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endif()
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+endif()
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set_package_properties(Eigen3 PROPERTIES
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URL "http://eigen.tuxfamily.org"
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PURPOSE "A linear algebra library used throughout OMPL.")
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-find_package(Eigen3 REQUIRED)
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+find_package(Eigen3 CONFIG REQUIRED)
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set_package_properties(Triangle PROPERTIES
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URL "http://www.cs.cmu.edu/~quake/triangle.html"
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PURPOSE "Used to create triangular decompositions of polygonal 2D environments.")
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+if (OMPLAPP_WITH_TRIANGLE)
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find_package(Triangle QUIET)
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+endif()
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set_package_properties(flann PROPERTIES
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URL "https://github.com/mariusmuja/flann"
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PURPOSE "If detetected, FLANN can be used for nearest neighbor queries by OMPL.")
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+if (OMPLAPP_WITH_FLANN)
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find_package(flann 1.8.3 QUIET)
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+endif()
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set_package_properties(spot PROPERTIES
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URL "http://spot.lrde.epita.fr"
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PURPOSE "Used for constructing finite automata from LTL formulae.")
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+if (OMPLAPP_WITH_SPOT)
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find_package(spot)
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+endif()
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set_package_properties(MORSE PROPERTIES
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URL "https://www.openrobots.org/wiki/morse"
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PURPOSE "OMPL includes a plugin for the MORSE Robot Simulation engine.")
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+if (OMPLAPP_WITH_MORSE)
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find_package(MORSE QUIET)
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+endif()
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set_package_properties(ODE PROPERTIES
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URL "http://ode.org"
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PURPOSE "The Open Dynamics Engine can be used as a \"black box\" for kinodynamic planning.")
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-find_package(ODE QUIET)
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+if (OMPLAPP_WITH_ODE)
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+find_package(ODE CONFIG REQUIRED)
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+set(ODE_LIBRARIES ODE::ODE)
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+endif()
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set_package_properties(Drawstuff PROPERTIES
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URL "http://ode.org"
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PURPOSE "Part of the ODE source distribution, used in one demo program.")
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+if (OMPLAPP_WITH_DRAWSTUFF)
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find_package(Drawstuff QUIET)
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+endif()
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set_package_properties(assimp PROPERTIES
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URL "http://assimp.org"
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PURPOSE "Used in ompl_app for reading meshes representing robots and environments.")
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-find_package(assimp REQUIRED)
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+find_package(assimp CONFIG REQUIRED)
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+set(ASSIMP_LIBRARIES assimp::assimp)
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set_package_properties(ccd PROPERTIES
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URL "https://github.com/danfis/libccd"
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PURPOSE "Collision detection library used by fcl.")
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-find_package(ccd REQUIRED)
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+find_package(ccd CONFIG REQUIRED)
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set_package_properties(fcl PROPERTIES
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URL "https://github.com/flexible-collision-library/fcl"
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PURPOSE "The default collision checking library.")
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+if (OMPLAPP_WITH_OCTOMAP)
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find_package(octomap QUIET)
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+endif()
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find_package(fcl REQUIRED)
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set_package_properties(Threads PROPERTIES
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URL "https://en.wikipedia.org/wiki/POSIX_Threads"
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PURPOSE "Pthreads is sometimes needed, depending on OS / compiler.")
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+if (OMPLAPP_WITH_THREADS)
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find_package(Threads QUIET)
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+endif()
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set_package_properties(Doxygen PROPERTIES
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URL "http://doxygen.org"
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PURPOSE "Used to create the OMPL documentation (i.e., http://ompl.kavrakilab.org).")
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+if (OMPLAPP_WITH_DOXYGEN)
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find_package(Doxygen)
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+endif()
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enable_testing()
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@@ -177,9 +201,7 @@ include_directories(SYSTEM "${Boost_INCLUDE_DIR}")
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include_directories(
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"${OMPLAPP_INCLUDE_DIRS}"
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"${OMPL_INCLUDE_DIRS}"
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- "${EIGEN3_INCLUDE_DIR}"
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- "${FCL_INCLUDE_DIRS}"
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- "${ASSIMP_INCLUDE_DIRS}")
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+ "${FCL_INCLUDE_DIRS}")
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# ROS installs fcl in /usr. In /usr/include/fcl/config.h it says octomap was
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# enabled. Octomap is installed in /opt/ros/${ROS_DISTRO}/include (most
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@@ -242,12 +264,14 @@ endif()
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set_package_properties(PQP PROPERTIES
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URL "http://gamma.cs.unc.edu/SSV/"
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PURPOSE "Used as an alternative, additional collision checking library (the default is FCL).")
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+IF (OMPLAPP_WITH_PQP)
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find_package(PQP QUIET)
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if(PQP_FOUND)
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include_directories("${PQP_INCLUDE_DIR}")
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set(OMPLAPP_MODULE_LIBRARIES ${OMPLAPP_MODULE_LIBRARIES} ${PQP_LIBRARY})
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set(OMPLAPP_LIBRARIES ${OMPLAPP_LIBRARIES} ${PQP_LIBRARY})
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endif()
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+endif()
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add_subdirectory(ompl/doc)
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add_subdirectory(ompl/src)
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