cmake_minimum_required(VERSION 3.1.3)
project(rokubimini)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
add_definitions(-std=c++14 -Wall -Werror)

if(CMAKE_COMPILER_IS_GNUCXX) 
  if (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 7.0) 
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -faligned-new")
  endif() 
endif() 

set(PACKAGE_DEPENDENCIES
    roscpp
    sensor_msgs
    geometry_msgs
)
find_package(Eigen3 REQUIRED)

find_package(catkin REQUIRED
  COMPONENTS
    ${PACKAGE_DEPENDENCIES} 
)

catkin_package(
  INCLUDE_DIRS
    include
  LIBRARIES
    ${PROJECT_NAME}
    yaml-cpp
  CATKIN_DEPENDS
    ${PACKAGE_DEPENDENCIES}
  DEPENDS
    EIGEN3
)

include_directories(
  SYSTEM
  include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
)

add_library(
  ${PROJECT_NAME}
  src/${PROJECT_NAME}/calibration/SensorCalibration.cpp
  src/${PROJECT_NAME}/configuration/Configuration.cpp
  src/${PROJECT_NAME}/configuration/ForceTorqueFilter.cpp
  src/${PROJECT_NAME}/configuration/SensorConfiguration.cpp
  src/${PROJECT_NAME}/fsm/StateEnum.cpp
  src/${PROJECT_NAME}/setup/Rokubimini.cpp
  src/${PROJECT_NAME}/setup/Setup.cpp
  src/${PROJECT_NAME}/Reading.cpp
  src/${PROJECT_NAME}/Rokubimini.cpp
  src/${PROJECT_NAME}/Statusword.cpp
  src/${PROJECT_NAME}/calibration/ForceTorqueCalibration.cpp
)

add_dependencies(
  ${PROJECT_NAME}
  ${catkin_EXPORTED_TARGETS}
)

target_link_libraries(
  ${PROJECT_NAME}
  ${catkin_LIBRARIES}
  yaml-cpp
)

install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

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