CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(n3ctrl)

set(CMAKE_VERBOSE_MAKEFILE "true")

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

set(ADDITIONAL_CXX_FLAG "-Wall -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CXX_FLAG}")


## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  quadrotor_msgs
  geometry_msgs
  uav_utils
  message_generation
)

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
find_package(Eigen REQUIRED) # try to find manually installed eigen (Usually in /usr/local with provided FindEigen3.cmake)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

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

add_message_files(
  FILES
  ControllerDebug.msg
)

generate_messages(
    DEPENDENCIES
    geometry_msgs
    std_msgs
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES n3ctrl
#  CATKIN_DEPENDS roscpp rospy
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
  ${EIGEN_INCLUDE_DIRS}
  include/${PROJECT_NAME}
  include
)

# message(STATUS "*************catkin_INCLUDE_DIRS=" ${catkin_INCLUDE_DIRS})

## Declare a cpp library
# add_library(n3ctrl
#   src/${PROJECT_NAME}/n3ctrl.cpp
# )

# file(GLOB N3CTRL_SOURCES src/*.cpp) 

## Declare a cpp executable
add_executable(n3ctrl_node 
	src/n3ctrl_node.cpp
  src/N3CtrlFSM.cpp
  src/N3CtrlFSM_control.cpp
  src/N3CtrlFSM_state.cpp
	src/N3CtrlParam.cpp
  src/controller.cpp
  src/hovthrkf.cpp
  src/input.cpp
)


## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(n3ctrl_node n3ctrl_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(n3ctrl_node
  ${catkin_LIBRARIES}
)


#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS n3ctrl n3ctrl_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_n3ctrl.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)