new ikfast files

hitgavin · Feb 21, 2017 · 541a283 · 541a283
1 parent 84d5a79
commit 541a283
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Showing 24 changed files with 112,414 additions and 968 deletions.
diff --git a/map_creator/CMakeLists.txt b/map_creator/CMakeLists.txt
@@ -11,6 +11,9 @@ find_package(catkin REQUIRED COMPONENTS
   tf2
   rviz_visual_tools
   pcl_ros
+  moveit_ros_planning_interface
+  moveit_core
+  interactive_markers
 )
 
 find_package(octomap REQUIRED)
@@ -43,54 +46,45 @@ catkin_package(
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS} ${HDF5_INCLUDE_DIR} ${PCL_INCLUDE_DIR})
 
-add_library(sphere_discretization
- src/sphere_discretization.cpp
-)
-add_library(kinematics
- src/kinematics.cpp
-)
-add_library(hdf5_dataset
- src/hdf5_dataset.cpp
-)
+add_library(sphere_discretization  src/sphere_discretization.cpp)
+add_library(kinematics  src/kinematics.cpp )
+add_library(hdf5_dataset  src/hdf5_dataset.cpp)
 
-target_link_libraries(sphere_discretization 
- ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES} ${PCL_LIBRARY_DIRS}
-)
-target_link_libraries(kinematics
- ${catkin_LIBRARIES}
-)
-target_link_libraries(hdf5_dataset
- ${catkin_LIBRARIES}
-)
+target_link_libraries(sphere_discretization  ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES} ${PCL_LIBRARY_DIRS})
+target_link_libraries(kinematics  ${catkin_LIBRARIES} -llapack)
+target_link_libraries(hdf5_dataset  ${catkin_LIBRARIES} -lhdf5 -lhdf5_cpp)
 
 install(TARGETS sphere_discretization kinematics hdf5_dataset
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 
 )
+
 install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
 add_executable(create_reachability_map src/create_reachability_map.cpp)
 add_dependencies(create_reachability_map ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(create_reachability_map sphere_discretization kinematics -lhdf5 -lhdf5_cpp ${catkin_LIBRARIES})
+target_link_libraries(create_reachability_map sphere_discretization kinematics  hdf5_dataset ${catkin_LIBRARIES})
 
 add_executable(create_inverse_reachability_map src/create_inverse_reachability_map.cpp)
 add_dependencies(create_inverse_reachability_map ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(create_inverse_reachability_map sphere_discretization kinematics -lhdf5 -lhdf5_cpp hdf5_dataset ${catkin_LIBRARIES})
+target_link_libraries(create_inverse_reachability_map sphere_discretization kinematics  hdf5_dataset ${catkin_LIBRARIES})
 
 add_executable(create_capability_map src/create_capability_map.cpp)
 add_dependencies(create_capability_map ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(create_capability_map sphere_discretization kinematics -lhdf5 -lhdf5_cpp ${catkin_LIBRARIES})
+target_link_libraries(create_capability_map sphere_discretization kinematics hdf5_dataset ${catkin_LIBRARIES})
 
 add_executable(load_reachability_map src/load_reachability_map.cpp)
 add_dependencies(load_reachability_map ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(load_reachability_map -lhdf5 -lhdf5_cpp hdf5_dataset ${catkin_LIBRARIES})
+target_link_libraries(load_reachability_map  hdf5_dataset ${catkin_LIBRARIES})
 
 add_executable(load_capability_map src/load_capability_map.cpp)
 add_dependencies(load_capability_map ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(load_capability_map -lhdf5 -lhdf5_cpp hdf5_dataset ${catkin_LIBRARIES})
+target_link_libraries(load_capability_map  hdf5_dataset ${catkin_LIBRARIES})
+
+
 
 if(CATKIN_ENABLE_TESTING)
   catkin_add_gtest(utest test/utest.cpp)