cmake_minimum_required(VERSION 2.8.3)
project(path_searching)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall")

find_package(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED)
find_package(ompl REQUIRED)

find_package(catkin REQUIRED COMPONENTS
    roscpp
    rospy
    std_msgs
    visualization_msgs
    plan_env
    cv_bridge
)


catkin_package(
    INCLUDE_DIRS include
    LIBRARIES path_searching
    CATKIN_DEPENDS plan_env
    #  DEPENDS system_lib
)

include_directories(
    SYSTEM
    include
    ${catkin_INCLUDE_DIRS}
    ${Eigen3_INCLUDE_DIRS}
    ${PCL_INCLUDE_DIRS}
)

add_library(path_searching
    src/astar2d.cpp
    src/kino_astar.cpp 
)
target_link_libraries(path_searching
    ${catkin_LIBRARIES}
    ${OMPL_LIBRARIES}
)
