CMakeLists.txt

cmake_minimum_required(VERSION 3.10)
project(trac_ik_lib)

# Set C++17 as the C++ version 
set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}")

add_compile_options(-Wall -Wextra -fPIC)

set(CMAKE_BUILD_TYPE "Debug" CACHE STRING "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel.")

set(LIB_NAME 
  trac_ik)

find_package(Boost REQUIRED COMPONENTS date_time)

find_package(PkgConfig REQUIRED)
pkg_check_modules(pkg_nlopt REQUIRED nlopt)
pkg_check_modules(Eigen REQUIRED eigen3)

add_library(${LIB_NAME} STATIC
  src/kdl_tl.cpp
  src/nlopt_ik.cpp
  src/trac_ik.cpp)

target_include_directories(${LIB_NAME} PUBLIC
  include
  ${Eigen_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${pkg_nlopt_INCLUDE_DIRS}
)

target_link_libraries(${LIB_NAME} PRIVATE
  ${pkg_nlopt_LIBRARIES}
  ${Boost_LIBRARIES})

  # Install target
install(TARGETS ${LIB_NAME}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})

install(DIRECTORY include/ DESTINATION include)