cmake_minimum_required(VERSION 2.8.3)
project(trac_ik_examples)

find_package(catkin REQUIRED
  COMPONENTS
    trac_ik_lib
)

find_package(Boost REQUIRED COMPONENTS date_time)
find_package(orocos_kdl REQUIRED)

catkin_package(
  CATKIN_DEPENDS
    trac_ik_lib
  DEPENDS
    Boost
    orocos_kdl
)

include_directories(
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${orocos_kdl_INCLUDE_DIRS}
)

add_executable(ik_tests src/ik_tests.cpp)
target_link_libraries(ik_tests
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
  ${orocos_kdl_LIBRARIES}
)

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

install(DIRECTORY launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
