cmake_minimum_required(VERSION 3.18)
project(g2o_demo)

set(CMAKE_CXX_STANDARD 14)
#编译优化
set(CMAKE_C_FLAGS_Release "${CMAKE_C_FLAGS_Release} -O3")


include_directories(${PROJECT_SOURCE_DIR}/include)


include_directories(${PROJECT_SOURCE_DIR}/third_party/include)
include_directories(${PROJECT_SOURCE_DIR}/third_party/include/suitesparse)

find_package(Python3 COMPONENTS Interpreter Development REQUIRED)


include_directories(${Python3_INCLUDE_DIRS})



add_library(optimal_planner
        src/optimal_planner.cpp
        src/timed_elastic_band.cpp
        src/obstacles.cpp
        )

link_directories(${CMAKE_CURRENT_SOURCE_DIR}/third_party/lib/g2o)
target_link_libraries(optimal_planner PRIVATE
        g2o_csparse_extension g2o_core
        g2o_stuff  g2o_types_slam2d  g2o_types_slam3d g2o_solver_cholmod
        g2o_solver_pcg  g2o_solver_csparse g2o_incremental cxsparse)


add_executable(g2o_demo main.cpp )


target_link_libraries(g2o_demo
        Python3::Python
        optimal_planner)