72 lines
1.5 KiB
CMake
Executable File
72 lines
1.5 KiB
CMake
Executable File
cmake_minimum_required(VERSION 2.8.3)
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project(plan_manage)
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set(CMAKE_VERBOSE_MAKEFILE "true")
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS "-std=c++17 -g ${TORCH_CXX_FLAGS}")
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set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -fPIC")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall" )
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list(APPEND CMAKE_PREFIX_PATH
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"${CMAKE_SOURCE_DIR}/../libtorch"
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/usr/local/cuda
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)
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set(CUDA_TOOLKIT_ROOT_DIR "/usr/local/cuda")
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set(Torch_DIR "${CMAKE_SOURCE_DIR}/../libtorch/share/cmake/Torch")
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set(ENABLE_CUDA true)
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find_package(Torch REQUIRED)
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if(ENABLE_CUDA)
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find_package(CUDA REQUIRED)
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SET(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3 -use_fast_math)
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set(CUDA_NVCC_FLAGS
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-gencode arch=compute_74,code=sm_74
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)
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endif()
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find_package(Eigen3 REQUIRED)
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find_package(PCL REQUIRED)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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visualization_msgs
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std_msgs
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tools
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path_search
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cv_bridge
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decomp_ros_utils
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${TORCH_INCLUDE_DIRS}
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)
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#if this catkin packge's header is used by other packages, use catkin_package to
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#declare the include directories of this package.
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catkin_package(
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INCLUDE_DIRS include
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)
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add_library(plan_manage
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src/plan_manage.cpp
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)
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target_link_libraries(plan_manage
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kino_astar
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nn_pathsearch
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${TORCH_LIBRARIES}
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${catkin_LIBRARIES}
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)
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add_executable(plan_node
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src/plan_node.cpp
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)
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target_link_libraries(plan_node
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plan_manage
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${catkin_LIBRARIES}
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${PCL_LIBRARIES}
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)
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