Initial Commit (tested training, testing, and TRT conversion)
This commit is contained in:
Lu Junjie
321
flightlib/CMakeLists.txt
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321
flightlib/CMakeLists.txt
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cmake_minimum_required(VERSION 3.0)
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project(flightlib VERSION 0.1.0)
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message(STATUS "====================== !Flightmare! ======================")
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# ###############################################################################
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# Options
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# ###############################################################################
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option(ENABLE_FAST "Build with optimizations for speed" ON)
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option(ENABLE_BLAS "Build using BLAS and LAPACK libraries" OFF)
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option(ENABLE_PARALLEL "Build using openmp parallelization" ON)
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option(EIGEN_FROM_SYSTTEM "Use the system-provided Eigen" ON)
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set(
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EIGEN_ALTERNATIVE "" CACHE STRING
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"Path to alternative Eigen, autodownload if blank"
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)
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# ###############################################################################
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# Finding Dependencies
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# ###############################################################################
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# Eigen3
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message(STATUS "======> Setup Dependencies")
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if(EIGEN_FROM_SYSTTEM)
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find_package(Eigen3 3.3.4 QUIET)
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if(EIGEN3_FOUND)
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message(STATUS "Using system provided Eigen.")
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message(${EIGEN3_INCLUDE_DIR})
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else()
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message(STATUS "No sufficient Eigen version (3.3.4) found.")
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message(STATUS "Restoring to download Eigen sources.")
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include(cmake/eigen.cmake)
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endif()
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elseif(EIGEN_ALTERNATIVE STREQUAL "")
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include(cmake/eigen.cmake)
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else()
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set(EIGEN_INCLUDE_DIR ${EIGEN_ALTERNATIVE})
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endif()
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message(STATUS "Eigen3 include dir: ${EIGEN3_INCLUDE_DIR}")
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# PCL (Many VTK errors are reported, but do not affect compilation)
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find_package(PCL 1.10 REQUIRED)
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message(STATUS "Using system provided PCL.")
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message(${PCL_INCLUDE_DIRS})
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include_directories(${PCL_INCLUDE_DIRS})
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link_directories(${PCL_LIBRARY_DIRS})
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add_definitions(${PCL_DEFINITIONS})
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# Including dependencies
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find_package(OpenCV REQUIRED)
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include_directories(${OpenCV_INCLUDE_DIRS})
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# Including dependencies
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include(cmake/pybind11.cmake)
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include(cmake/yaml.cmake)
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# Including OpenMP & CUDA
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find_package(OpenMP REQUIRED)
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find_package(CUDA REQUIRED)
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if(ENABLE_BLAS)
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set(BLA_VENDOR "Generic")
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find_package(BLAS REQUIRED)
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if(BLAS_FOUND)
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message(STATUS "Found BLAS: ${BLAS_LIBRARIES}")
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else()
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message(ERROR "Could not enable BLAS because BLAS was not found")
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endif()
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find_package(LAPACK REQUIRED)
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if(LAPACK_FOUND)
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message(STATUS "Found Lapack: ${LAPACK_LIBRARIES}")
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else()
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message(ERROR "Could not enable LAPACK because LAPACK was not found")
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endif()
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endif()
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# Check for ccache
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if(NOT DEFINED CATKIN_DEVEL_PREFIX)
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find_program(CCACHE_PROGRAM ccache)
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if(CCACHE_PROGRAM)
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set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
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else()
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message(INFO "Build time could be improved with ccache!")
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message(INFO "sudo apt install ccache")
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endif()
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endif()
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# ###############################################################################
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# Setup Compilation Flag
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# ###############################################################################
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message(STATUS "======> Setup Compilation ")
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add_definitions(-DEIGEN_STACK_ALLOCATION_LIMIT=1048576)
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include_directories(${EIGEN_INCLUDE_DIR} "tests")
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include_directories(${OpenCV_INCLUDE_DIRS})
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# Set default build type
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if(NOT EXISTS ${CMAKE_BINARY_DIR}/CMakeCache.txt)
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
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endif()
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endif()
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cuda_select_nvcc_arch_flags(CUDA_ARCH_FLAGS)
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message("CUDA Architecture: ${CUDA_ARCH_FLAGS}")
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if(${CMAKE_BUILD_TYPE} STREQUAL Release)
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SET(CUDA_NVCC_FLAGS "${CUDA_ARCH_FLAGS};-O3;-use_fast_math" CACHE STRING "nvcc flags" FORCE)
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message("build CUDA with -O3")
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else()
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message("build CUDA with Debug")
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SET(CUDA_NVCC_FLAGS "-g ;-G ;${CUDA_ARCH_FLAGS}" CACHE STRING "nvcc flags" FORCE)
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SET(CUDA_VERBOSE_BUILD ON CACHE BOOL "nvcc verbose" FORCE)
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endif()
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# Add c++ flags
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set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -fPIC -Wall -DNDEBUG -fopenmp")
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -fPIC -Wall -g -fopenmp")
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set(CMAKE_CXX_STANDARD 17)
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# Architectural flags
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if("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "armv7l")
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message(STATUS "Using ARMv7 optimized flags!")
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set(CMAKE_CXX_ARCH_FLAGS " -Wno-psabi -march=armv7-a -mfpu=neon -mfloat-abi=hard -funsafe-math-optimizations")
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elseif("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "aarch64")
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message(STATUS "Using ARM aarch64 optimized flags!")
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set(CMAKE_CXX_ARCH_FLAGS " -Wno-psabi -march=armv8-a+crypto -mcpu=cortex-a57+crypto")
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else()
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set(CMAKE_CXX_ARCH_FLAGS " -march=native")
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endif()
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# Optimized flags
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if(ENABLE_FAST)
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message(STATUS "Enabling fast optimization flags!")
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set(CMAKE_CXX_FAST_FLAGS " -Ofast")
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else()
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set(CMAKE_CXX_FAST_FLAGS " -O0")
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endif()
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# BLAS Flags
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if(BLAS_FOUND AND LAPACK_FOUND)
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message(STATUS "Enabling BLAS and LAPACK")
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set(CMAKE_CXX_BLAS_FLAGS " -DEIGEN_USE_BLAS -DEIGEN_USE_LAPACK -DEIGEN_USE_LAPACKE")
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else()
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set(CMAKE_CXX_BLAS_FLAGS "")
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endif()
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# Summarize Flags
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set(CMAKE_CXX_FLAGS_RELEASE
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"${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FAST_FLAGS} ${CMAKE_CXX_ARCH_FLAGS} ${CMAKE_CXX_PAR_FLAGS}")
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string(REPLACE "-DNDEBUG" "" CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
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message(STATUS "The activated CXX RELEASE configuration is:\n ${CMAKE_CXX_FLAGS_RELEASE}")
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message(STATUS "The activated CXX DEBUG configuration is:\n ${CMAKE_CXX_FLAGS_DEBUG}")
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# ###############################################################################
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# Specify Build Resources
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# ###############################################################################
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message(STATUS "======> Setup Build ")
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add_subdirectory(${PROJECT_SOURCE_DIR}/third_party/arc_utilities)
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add_subdirectory(${PROJECT_SOURCE_DIR}/third_party/sdf_tools)
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# Create file lists for flightlib source
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file(GLOB_RECURSE FLIGHTLIB_SOURCES
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src/bridges/*.cpp
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src/dynamics/*.cpp
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src/objects/*.cpp
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src/sensors/*.cpp
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src/sensors/*.cu
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src/envs/*.cpp
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src/common/*.cpp
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src/grad_traj_optimization/*.cpp
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)
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# Create file lists for flightlib_gym source
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file(GLOB_RECURSE FLIGHTLIB_GYM_SOURCES
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src/wrapper/*.cpp
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)
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# ###############################################################################
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# Optional Catkin Build
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# ###############################################################################
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if(DEFINED CATKIN_DEVEL_PREFIX)
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message(STATUS "======> Building with -- catkin -- ")
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include(cmake/catkin.cmake)
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return()
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endif()
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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sdf_tools
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pcl_ros
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pcl_conversions
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sensor_msgs
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)
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# ###############################################################################
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# Setup Build
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# ###############################################################################
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# Library and Executables
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include_directories(include)
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include_directories(${PROJECT_SOURCE_DIR}/third_party/sdf_tools/include)
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include_directories(${PROJECT_SOURCE_DIR}/third_party/arc_utilities/include)
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# 1. The Training Lib
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if(NOT FLIGHTLIB_SOURCES)
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set(LIBRARY_NAME)
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else()
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# flightlib -CUDA
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cuda_add_library(${PROJECT_NAME} ${FLIGHTLIB_SOURCES})
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target_link_libraries(${PROJECT_NAME} # PRIVATE
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${OpenCV_LIBRARIES}
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${PCL_LIBRARIES}
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${CUDA_curand_LIBRARY}
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${CUDA_cublas_LIBRARY}
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${CUDA_LIBRARIES}
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${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PROJECT_SOURCE_DIR}
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yaml-cpp
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zmq
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zmqpp
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stdc++fs)
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set(LIBRARY_NAME ${PROJECT_NAME})
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set_target_properties(${PROJECT_NAME} PROPERTIES POSITION_INDEPENDENT_CODE TRUE)
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endif()
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if(FLIGHTLIB_GYM_SOURCES)
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# flightlib_gym (python3 binding with Pybind11)
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pybind11_add_module(flightgym MODULE
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${FLIGHTLIB_GYM_SOURCES})
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if(EIGEN3_FOUND)
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target_include_directories(flightgym PRIVATE
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# ${PROJECT_SOURCE_DIR}/externals/pybind11-src/include
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${PYBIND11_INCLUDE_DIR}
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${PROJECT_SOURCE_DIR}/include
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${EIGEN3_INCLUDE_DIR})
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else()
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target_include_directories(flightgym PRIVATE
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# ${PROJECT_SOURCE_DIR}/externals/pybind11-src/include
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${PYBIND11_INCLUDE_DIR}
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${PROJECT_SOURCE_DIR}/externals/eigen/eigen3 # pybind11 use #include <Eigen/Core>, however, flightmare use #include <eigen3/Eigen/Core>
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${PROJECT_SOURCE_DIR}/include)
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endif()
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target_link_libraries(flightgym PRIVATE ${LIBRARY_NAME})
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endif()
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if(ENABLE_BLAS AND BLAS_FOUND AND LAPACK_FOUND)
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message(STATUS "Linking standard BLAS ${BLAS_LIBRARIES}")
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target_link_libraries(${LIBRARY_NAME}
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${BLAS_LIBRARIES}
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${LAPACK_LIBRARIES}
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${LAPACKE_LIBRARIES}
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)
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endif()
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# Build Other ROS PKG
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find_package(catkin REQUIRED COMPONENTS
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tf
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nav_msgs
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cv_bridge
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)
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include_directories(
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${catkin_INCLUDE_DIRS}
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${PROJECT_SOURCE_DIR}/include
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)
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# 2. ROS Simulation Node
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add_executable(flightros_node
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src/ros_nodes/flight_pilot.cpp
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src/ros_nodes/flight_pilot_node.cpp
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)
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target_link_libraries(flightros_node
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${LIBRARY_NAME}
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${catkin_LIBRARIES}
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${OpenCV_LIBRARIES}
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zmqpp
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stdc++fs
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)
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# 3. The Planner
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add_executable(yopo_planner_node
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src/ros_nodes/yopo_planner_node.cpp
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)
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target_link_libraries(yopo_planner_node
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${LIBRARY_NAME}
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${catkin_LIBRARIES}
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)
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# 4. Tool: Trajectory Evaluation
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add_executable(traj_eval_node
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src/ros_nodes/traj_eval_node.cpp
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)
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target_link_libraries(traj_eval_node
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${LIBRARY_NAME}
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${catkin_LIBRARIES}
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)
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# 5. Tool: Map Visualization
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add_executable(map_visual_node
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src/ros_nodes/map_visual_node.cpp
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)
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target_link_libraries(map_visual_node
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${LIBRARY_NAME}
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${catkin_LIBRARIES}
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)
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message(STATUS "================ !Done. No more nightmare! ================")
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