CMakeLists.txt

cmake_minimum_required(VERSION 3.1)

project(human-dynamics-estimator CXX)

set(CMAKE_CXX_EXTENSIONS OFF)
# set(CMAKE_CXX_STANDARD 11)

# Generate thrift files  
yarp_idl_to_dir("${CMAKE_CURRENT_SOURCE_DIR}/thrifts/HumanDynamics.thrift" "${CMAKE_CURRENT_BINARY_DIR}/autogenerated" THRIFT_SOURCES THRIFT_HEADERS THRIFT_INCLUDE_DIRS)

# Until nobody uses it, make this static
add_library(human-dynamics-estimator-data STATIC ${THRIFT_SOURCES} ${THRIFT_HEADERS})
target_include_directories(human-dynamics-estimator-data SYSTEM PUBLIC ${THRIFT_INCLUDE_DIRS} ${YARP_INCLUDE_DIRS})
target_link_libraries(human-dynamics-estimator-data YARP::YARP_OS YARP::YARP_sig)

set(SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/main.cpp 
            ${CMAKE_CURRENT_SOURCE_DIR}/src/HumanDynamicsEstimator.cpp)

set(HEADERS ${CMAKE_CURRENT_SOURCE_DIR}/include/HumanDynamicsEstimator.h)

## Declare a C++ executable
add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS})

if (HUMAN_DYNAMICS_ESTIMATION_DEBUG_MALLOC)
  target_compile_definitions(${PROJECT_NAME} PRIVATE "$<$<CONFIG:Debug>:EIGEN_RUNTIME_NO_MALLOC>")
endif()

target_compile_features(${PROJECT_NAME} PRIVATE cxx_auto_type
                                                cxx_range_for)

## Include directories
target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIR} ${YARP_INCLUDE_DIRS})

## Specify targets for the linkage
target_link_libraries(${PROJECT_NAME} human-dynamics-estimator-data
                                      human-forces-provider-data 
                                      human-state-provider-data
                                      YARP::YARP_OS
                                      YARP::YARP_init
                                      YARP::YARP_sig
                                      iDynTree::idyntree-core
                                      iDynTree::idyntree-estimation
                                      iDynTree::idyntree-high-level
                                      iDynTree::idyntree-yarp)

add_warnings_configuration_to_target(TARGETS ${PROJECT_NAME} PRIVATE)

yarp_install(FILES conf/human-dynamics-estimator.ini
             DESTINATION ${YARP_CONTEXTS_INSTALL_DIR}/human-dynamic-estimation)

install(TARGETS ${PROJECT_NAME} 
        RUNTIME DESTINATION ${CMAKE_INSTALL_FULL_BINDIR}
        ARCHIVE DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
        LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR})