X-lanni
130 lines
3.2 KiB
CMake
130 lines
3.2 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(nav2_mppi_controller)
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add_definitions(-DXTENSOR_ENABLE_XSIMD)
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add_definitions(-DXTENSOR_USE_XSIMD)
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set(XTENSOR_USE_TBB 0)
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set(XTENSOR_USE_OPENMP 0)
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set(XTENSOR_USE_XSIMD 1)
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# set(XTENSOR_DEFAULT_LAYOUT column_major) # row_major, column_major
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# set(XTENSOR_DEFAULT_TRAVERSAL row_major) # row_major, column_major
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find_package(ament_cmake REQUIRED)
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find_package(xtensor REQUIRED)
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find_package(xsimd REQUIRED)
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include_directories(
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include
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)
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set(dependencies_pkgs
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rclcpp
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nav2_common
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pluginlib
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tf2
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geometry_msgs
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visualization_msgs
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nav_msgs
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nav2_core
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nav2_costmap_2d
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nav2_util
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tf2_geometry_msgs
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tf2_eigen
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tf2_ros
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)
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foreach(pkg IN LISTS dependencies_pkgs)
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find_package(${pkg} REQUIRED)
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endforeach()
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nav2_package()
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include(CheckCXXCompilerFlag)
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check_cxx_compiler_flag("-mno-avx512f" COMPILER_SUPPORTS_AVX512)
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check_cxx_compiler_flag("-msse4.2" COMPILER_SUPPORTS_SSE4)
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check_cxx_compiler_flag("-mavx2" COMPILER_SUPPORTS_AVX2)
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check_cxx_compiler_flag("-mfma" COMPILER_SUPPORTS_FMA)
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if(COMPILER_SUPPORTS_AVX512)
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add_compile_options(-mno-avx512f)
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endif()
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if(COMPILER_SUPPORTS_SSE4)
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add_compile_options(-msse4.2)
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endif()
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if(COMPILER_SUPPORTS_AVX2)
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add_compile_options(-mavx2)
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endif()
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if(COMPILER_SUPPORTS_FMA)
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add_compile_options(-mfma)
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endif()
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# If building one the same hardware to be deployed on, try `-march=native`!
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add_compile_options(-O3 -finline-limit=10000000 -ffp-contract=fast -ffast-math -mtune=generic)
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add_library(mppi_controller SHARED
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src/controller.cpp
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src/optimizer.cpp
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src/critic_manager.cpp
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src/trajectory_visualizer.cpp
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src/path_handler.cpp
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src/parameters_handler.cpp
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src/noise_generator.cpp
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)
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add_library(mppi_critics SHARED
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src/critics/obstacles_critic.cpp
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src/critics/cost_critic.cpp
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src/critics/goal_critic.cpp
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src/critics/goal_angle_critic.cpp
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src/critics/path_align_critic.cpp
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src/critics/path_align_legacy_critic.cpp
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src/critics/path_follow_critic.cpp
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src/critics/path_angle_critic.cpp
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src/critics/prefer_forward_critic.cpp
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src/critics/twirling_critic.cpp
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src/critics/constraint_critic.cpp
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src/critics/velocity_deadband_critic.cpp
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)
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set(libraries mppi_controller mppi_critics)
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foreach(lib IN LISTS libraries)
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target_compile_options(${lib} PUBLIC -fconcepts)
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target_include_directories(${lib} PUBLIC ${xsimd_INCLUDE_DIRS}) # ${OpenMP_INCLUDE_DIRS}
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target_link_libraries(${lib} xtensor xtensor::optimize xtensor::use_xsimd)
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ament_target_dependencies(${lib} ${dependencies_pkgs})
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endforeach()
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install(TARGETS mppi_controller mppi_critics
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(DIRECTORY include/
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DESTINATION include/
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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find_package(ament_cmake_gtest REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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add_subdirectory(test)
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# add_subdirectory(benchmark)
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endif()
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ament_export_libraries(${libraries})
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ament_export_dependencies(${dependencies_pkgs})
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ament_export_include_directories(include)
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pluginlib_export_plugin_description_file(nav2_core mppic.xml)
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pluginlib_export_plugin_description_file(nav2_mppi_controller critics.xml)
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ament_package()
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