CMakeLists

include_directories(
  ${catkin_INCLUDE_DIRS}
        src/avoidObsModel/cbp
        src/avoidObsModel/cbp/common
        src/avoidObsModel/cbp/dwa
        src/avoidObsModel/cbp/sehs
        src/avoidObsModel/cbp/Ipopt
        src/avoidObsModel/cbp/Ipopt/include
)

link_directories(src/avoidObsModel/cbp/Ipopt/lib)

set(SOURCE_FILES
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/common/dubins.cpp
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/dwa/dwaplanner.cpp
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/common/reeds_shepp.cpp
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/common/visualize.cpp
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/common/hermite_curve.cpp
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/sehs/sehs.cpp
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/sehs/exploration.cpp
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/sehs/modelsimulation.cpp
	##${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/common/Optimizer.cpp
    )

set(HEADER_FILES
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/common/functions.h
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/common/dubins.h
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/dwa/dwaplanner.h
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/common/reeds_shepp.h
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/common/visualize.h
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/common/hermite_curve.h
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/sehs/sehs.h
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/sehs/stateheaders.h
	${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/dwa/commonheaders.h
	##${CMAKE_CURRENT_SOURCE_DIR}/src/avoidObsModel/cbp/common/Optimizer.h
	)

add_executable(ivcbp src/avoidObsModel/cbp/ivcbp.cpp ${SOURCE_FILES} ${ASTAR_SOURCE_FILES}
	           ../../avoslib/geotool.cpp ../../avoslib/iabasemaptool.cpp)
add_dependencies(ivcbp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(ivcbp ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})