################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################

cmake_minimum_required(VERSION 2.8.0)
project(thormang3_demo)

################################################################################
# Find catkin packages and libraries for catkin and system dependencies
################################################################################
find_package(catkin REQUIRED COMPONENTS
  roscpp
  roslib
  std_msgs
  sensor_msgs
  geometry_msgs
  humanoid_nav_msgs
  visualization_msgs
  interactive_markers
  robotis_controller_msgs
  thormang3_feet_ft_module_msgs
  thormang3_manipulation_module_msgs
  thormang3_walking_module_msgs
  thormang3_foot_step_generator
  eigen_conversions
  cmake_modules
  qt_build
)

find_package(Boost REQUIRED COMPONENTS thread)
find_package(Eigen3 REQUIRED)

## Resolve system dependency on yaml-cpp, which apparently does not
## provide a CMake find_package() module.
## Insert your header file compatible specified path like '#include <yaml-cpp/yaml.h>'
find_package(PkgConfig REQUIRED)
pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
find_path(YAML_CPP_INCLUDE_DIR
  NAMES yaml_cpp.h
  PATHS ${YAML_CPP_INCLUDE_DIRS}
)
find_library(YAML_CPP_LIBRARY
  NAMES YAML_CPP
  PATHS ${YAML_CPP_LIBRARY_DIRS}
)
link_directories(${YAML_CPP_LIBRARY_DIRS})

if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
add_definitions(-DHAVE_NEW_YAMLCPP)
endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")

################################################################################
# Setup for python modules and scripts
################################################################################

################################################################################
# Declare ROS messages, services and actions
################################################################################

################################################################################
# Declare ROS dynamic reconfigure parameters
################################################################################

################################################################################
# Declare catkin specific configuration to be passed to dependent projects
################################################################################
catkin_package(
 INCLUDE_DIRS include
 CATKIN_DEPENDS
  roscpp
  roslib
  std_msgs
  sensor_msgs
  geometry_msgs
  humanoid_nav_msgs
  visualization_msgs
  interactive_markers
  robotis_controller_msgs
  thormang3_feet_ft_module_msgs
  thormang3_manipulation_module_msgs
  thormang3_walking_module_msgs
  thormang3_foot_step_generator
  eigen_conversions
  cmake_modules
  qt_build
 DEPENDS Boost EIGEN3
)

################################################################################
# Build
################################################################################
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
  ${YAML_CPP_INCLUDE_DIRS}
)

rosbuild_prepare_qt4(QtCore QtGui)

file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/thormang3_demo/*.hpp)
file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)

QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})

add_executable(${PROJECT_NAME} ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${Eigen3_LIBRARIES} ${YAML_CPP_LIBRARIES} ${QT_LIBRARIES})

################################################################################
# Install
################################################################################
install(TARGETS ${PROJECT_NAME}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

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

install(DIRECTORY config launch resources ui
	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

################################################################################
# Test
################################################################################
