CMakeLists.txt

cmake_minimum_required(VERSION 3.16)
project(thor_trajectory_lib)

if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE "Release")
  #set(CMAKE_BUILD_TYPE "Release")
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  if(CMAKE_BUILD_TYPE MATCHES "Release")
    add_compile_options(-funroll-loops -Wall -Ofast -flto) #-O3
  endif()
  if(CMAKE_BUILD_TYPE MATCHES "Debug")
    add_compile_options(-Wall -g -Og)
  endif()
endif()

set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

find_package(Eigen3 REQUIRED COMPONENTS Core Dense Geometry)
find_package(cnr_logger REQUIRED)
find_package(cnr_param REQUIRED)
find_package(trajectories_processors_lib REQUIRED) 
find_package(thor_math REQUIRED)



set(DEPS
   Eigen3::Eigen
   cnr_logger::cnr_logger
   cnr_param::cnr_param
   trajectories_processors_lib::trajectories_processors_lib
   thor_math::thor_math
   )

add_library(${PROJECT_NAME} SHARED
             src/thor_trajectory_processor.cpp)

target_include_directories(${PROJECT_NAME} PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_link_libraries(${PROJECT_NAME} PUBLIC ${DEPS})

add_library("${PROJECT_NAME}::${PROJECT_NAME}" ALIAS ${PROJECT_NAME})



# Install
install(DIRECTORY include/openmore
  DESTINATION include)

  install(
  TARGETS ${PROJECT_NAME} 
  EXPORT ${PROJECT_NAME}Targets
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(EXPORT ${PROJECT_NAME}Targets
  DESTINATION "share/${PROJECT_NAME}/cmake"
  NAMESPACE ${PROJECT_NAME}::
  FILE ${PROJECT_NAME}Targets.cmake
)

include(CMakePackageConfigHelpers)
include(GNUInstallDirs)

write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
  VERSION 0.0.1
  COMPATIBILITY AnyNewerVersion)
configure_package_config_file(
  ${CMAKE_SOURCE_DIR}/cmake_config/${PROJECT_NAME}Config.cmake.in ${PROJECT_NAME}Config.cmake
  INSTALL_DESTINATION share/${PROJECT_NAME}/cmake
  PATH_VARS CMAKE_INSTALL_INCLUDEDIR CMAKE_INSTALL_LIBDIR
)

install(FILES
  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
  DESTINATION "share/${PROJECT_NAME}/cmake")