Enable the compilation of the time-varying dcm planner

ami-iit · Jul 6, 2020 · 1bf3577 · 1bf3577
1 parent 401983c
commit 1bf3577
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/src/Planners/CMakeLists.txt b/src/Planners/CMakeLists.txt
@@ -8,10 +8,10 @@ if (FRAMEWORK_COMPILE_Planners)
 
  add_bipedal_locomotion_library(
  NAME Contact
- PUBLIC_HEADERS ${H_PREFIX}/Contact.h ${H_PREFIX}/ContactList.h ${H_PREFIX}/ContactPhase.h ${H_PREFIX}/ContactPhaseList.h ${H_PREFIX}/ConvexHullHelper.h ${H_PREFIX}/DCMPlanner.h
- SOURCES src/ContactList.cpp src/ContactPhase.cpp src/ContactPhaseList.cpp src/ConvexHullHelper.cpp src/DCMPlanner.cpp
+ PUBLIC_HEADERS ${H_PREFIX}/Contact.h ${H_PREFIX}/ContactList.h ${H_PREFIX}/ContactPhase.h ${H_PREFIX}/ContactPhaseList.h ${H_PREFIX}/ConvexHullHelper.h ${H_PREFIX}/DCMPlanner.h ${H_PREFIX}/TimeVaryingDCMPlanner.h
+ SOURCES src/ContactList.cpp src/ContactPhase.cpp src/ContactPhaseList.cpp src/ConvexHullHelper.cpp src/DCMPlanner.cpp src/TimeVaryingDCMPlanner.cpp
  PUBLIC_LINK_LIBRARIES iDynTree::idyntree-core BipedalLocomotion::System BipedalLocomotion::ParametersHandler
- PRIVATE_LINK_LIBRARIES Qhull::qhullcpp Qhull::qhullstatic_r
+ PRIVATE_LINK_LIBRARIES Qhull::qhullcpp Qhull::qhullstatic_r casadi
  INSTALLATION_FOLDER Planners
  SUBDIRECTORIES tests
  DEPENDS_ON_EIGEN_PRIVATE)

diff --git a/src/Planners/tests/CMakeLists.txt b/src/Planners/tests/CMakeLists.txt
@@ -20,3 +20,8 @@ add_bipedal_test(
  NAME ConvexHullHelper
  SOURCES ConvexHullHelperTest.cpp
  LINKS BipedalLocomotion::Contact)
+
+add_bipedal_test(
+ NAME TimeVaryingDCMPlanner
+ SOURCES TimeVaryingDCMPlannerTest.cpp
+ LINKS BipedalLocomotion::Contact)