cmake_minimum_required(VERSION 2.8.3)

project(real_flight)
add_compile_options(-std=c++17)
add_compile_options(-O3)

find_package(catkin_simple REQUIRED)
catkin_package(
        LIBRARIES
        CATKIN_DEPENDS
)
catkin_simple(ALL_DEPS_REQUIRED)

cs_add_library(flight_middleware src/flight_middleware.cpp)
target_include_directories(flight_middleware PUBLIC
        ../../rpg_mpc/model/quadrotor_mpc_codegen
        ../../rpg_mpc/externals/qpoases
        ../../rpg_mpc/externals/qpoases/INCLUDE
        ../../rpg_mpc/externals/qpoases/SRC)
target_link_libraries(flight_middleware stdc++fs
        ${catkin_LIBRARIES}
        )

cs_add_executable(flight_middleware_node src/flight_middleware_node.cpp)
target_link_libraries(
        flight_middleware_node stdc++fs
        flight_middleware
        ${catkin_LIBRARIES}
)

cs_install()
cs_export()
