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markusgftmarkusgft
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removing a few ros-dependencies from cmakelist
1 parent f461aac commit 17f0300

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8 files changed

+16
-36
lines changed

8 files changed

+16
-36
lines changed

‎ct/cmake/compilerSettings.cmake

Lines changed: 1 addition & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -4,8 +4,6 @@ option(BUILD_EXAMPLES "Compile all examples for ct" false)
44
option(BUILD_HYQ_FULL "Compile all examples for HyQ (takes long, should use clang)" false)
55
option(BUILD_HYQ_LINEARIZATION_TIMINGS "Build linearization timing tests for HyQ (takes long, should use clang)" false)
66
option(BUILD_HYA_LINEARIZATION_TIMINGS "Build linearization timing tests for HyA (takes long, should use clang)" false)
7-
option(USE_LAPACKE "Use lapacke bindings for Eigen" false)
8-
option(USE_BLAS "Use blas bindings for Eigen" false)
97
option(HPIPM "Build HPIPM Optimal Control solver" false)
108

119
## option to activate/deactivate explicit template prespecs
@@ -32,14 +30,4 @@ if(USE_INTEL)
3230
SET (CMAKE_C_COMPILER ${INTEL_C_COMPILER})
3331
SET (CMAKE_CXX_COMPILER ${INTEL_CXX_COMPILER})
3432
set(CMAKE_CXX_LINKER_FLAGS "${CMAKE_CXX_LINKER_FLAGS} -L${MKLROOT}/lib/intel64 -llibblas -lmkl_intel_lp64 -lmkl_sequential -lmkl_core -lpthread -lm -llapacke -lblas -llapack -lliblapack -liblapacke")
35-
endif(USE_INTEL)
36-
37-
38-
if(USE_LAPACKE)
39-
add_definitions(-DEIGEN_USE_LAPACKE)
40-
set(CMAKE_CXX_LINKER_FLAGS "${CMAKE_CXX_LINKER_FLAGS} -llapacke -lblas ")
41-
endif()
42-
43-
if(USE_BLAS)
44-
add_definitions(-DEIGEN_USE_BLAS)
45-
endif()
33+
endif(USE_INTEL)

‎ct_core/CMakeLists.txt

Lines changed: 7 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -44,12 +44,9 @@ endif()
4444
include_directories(
4545
${BOOST_INCLUDE_DIRS}
4646
${catkin_INCLUDE_DIRS}
47-
)
48-
49-
include_directories (
50-
include
51-
include/external
52-
${EIGEN3_INCLUDE_DIR}
47+
${EIGEN3_INCLUDE_DIR}
48+
include
49+
include/external
5350
)
5451

5552
## dummy prespec libs
@@ -72,14 +69,13 @@ catkin_package(
7269
examples
7370
${EIGEN3_INCLUDE_DIR}
7471
LIBRARIES
75-
dl
76-
ct_core
77-
${PRESPEC_LIB_NAMES}
72+
ct_core
73+
dl #required for gcc-compatibility
74+
${PRESPEC_LIB_NAMES}
7875
DEPENDS
79-
EIGEN3
76+
EIGEN3
8077
)
8178

82-
8379
set(CODEGEN_TEMPLATE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/templates")
8480
set(CODEGEN_OUTPUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/generated")
8581
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/ct/core/templateDir.h.in ${CMAKE_CURRENT_SOURCE_DIR}/include/ct/core/templateDir.h)

‎ct_core/package.xml

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -2,11 +2,10 @@
22
<name>ct_core</name>
33
<version>0.3.0</version>
44
<description>
5-
ADRL control toolbox - core module
5+
Control toolbox - core module.
66
</description>
77
<maintainer email="markusgft@gmail.com">Markus Giftthaler</maintainer>
88
<maintainer email="neunertm@gmail.com">Michael Neunert</maintainer>
99
<license>BSD-2</license>
1010
<buildtool_depend>catkin</buildtool_depend>
11-
1211
</package>

‎ct_models/CMakeLists.txt

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -60,7 +60,7 @@ endif(USE_PRESPEC)
6060

6161
################ HyQ #################
6262
add_executable(HyQLinearizationCodgen src/HyQ/codegen/HyQLinearizationCodgen.cpp)
63-
target_link_libraries(HyQLinearizationCodgen ${catkin_LIBRARIES} )
63+
target_link_libraries(HyQLinearizationCodgen ${catkin_LIBRARIES})
6464

6565
if (BUILD_HYQ_FULL)
6666
if (NOT USE_CLANG)

‎ct_models/package.xml

Lines changed: 0 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -10,9 +10,6 @@
1010

1111
<buildtool_depend>catkin</buildtool_depend>
1212

13-
<depend>roscpp</depend>
14-
<depend>std_msgs</depend>
15-
<depend>ct_core</depend>
1613
<depend>ct_rbd</depend>
1714

1815
</package>

‎ct_optcon/package.xml

Lines changed: 5 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,17 +1,20 @@
11
<package format="2">
22
<name>ct_optcon</name>
3+
34
<version>0.3.0</version>
5+
46
<description>Optimal Control package of the ADRL Control Toolbox</description>
7+
8+
<license>BSD-2</license>
9+
510
<maintainer email="markusgft@gmail.com">Markus Giftthaler</maintainer>
611
<maintainer email="neunertm@gmail.com">Michael Neunert</maintainer>
7-
<license>BSD-2</license>
812

913
<author>Markus Giftthaler</author>
1014
<author>Michael Neunert</author>
1115

1216
<buildtool_depend>catkin</buildtool_depend>
1317

14-
<depend>roscpp</depend>
1518
<depend>ct_core</depend>
1619
<depend>cmake_modules</depend>
1720

‎ct_rbd/CMakeLists.txt

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@ include(${CMAKE_CURRENT_SOURCE_DIR}/../ct_optcon/cmake/externalSolvers.cmake)
1010
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wfatal-errors -std=c++14 -Wall -Wno-unknown-pragmas")
1111
SET(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
1212

13-
find_package(catkin REQUIRED ct_core ct_optcon)
13+
find_package(catkin REQUIRED ct_optcon)
1414
find_package(kindr)
1515

1616

@@ -34,7 +34,6 @@ catkin_package(
3434
LIBRARIES
3535
${PRESPEC_LIB_NAMES}
3636
CATKIN_DEPENDS
37-
ct_core
3837
ct_optcon
3938
kindr
4039
)

‎ct_rbd/package.xml

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -10,8 +10,6 @@
1010

1111
<buildtool_depend>catkin</buildtool_depend>
1212

13-
<depend>roscpp</depend>
14-
<depend>ct_core</depend>
1513
<depend>ct_optcon</depend>
1614
<depend>cmake_modules</depend>
1715
<depend>kindr</depend>

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