Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Find collision components optionally for environment test suite #941

Closed
wants to merge 1 commit into from
Closed

Find collision components optionally for environment test suite #941

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
56 changes: 29 additions & 27 deletions tesseract_environment/test/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
find_gtest()
find_package(tesseract_support REQUIRED)
find_package(tesseract_collision REQUIRED COMPONENTS core bullet fcl)
find_package(tesseract_collision REQUIRED COMPONENTS core OPTIONAL_COMPONENTS bullet fcl)
find_package(OpenMP REQUIRED)
if(NOT TARGET OpenMP::OpenMP_CXX)
find_package(Threads REQUIRED)
Expand All @@ -10,32 +10,34 @@ if(NOT TARGET OpenMP::OpenMP_CXX)
set_property(TARGET OpenMP::OpenMP_CXX PROPERTY INTERFACE_LINK_LIBRARIES ${OpenMP_CXX_FLAGS} Threads::Threads)
endif()

add_executable(${PROJECT_NAME}_unit tesseract_environment_unit.cpp)
target_link_libraries(
${PROJECT_NAME}_unit
PRIVATE GTest::GTest
GTest::Main
${PROJECT_NAME}
OpenMP::OpenMP_CXX
tesseract::tesseract_support
tesseract::tesseract_urdf
tesseract::tesseract_collision_bullet
tesseract::tesseract_collision_fcl
tesseract::tesseract_scene_graph)
target_compile_options(${PROJECT_NAME}_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE}
${TESSERACT_COMPILE_OPTIONS_PUBLIC})
target_compile_definitions(${PROJECT_NAME}_unit PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
target_clang_tidy(${PROJECT_NAME}_unit ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
target_cxx_version(${PROJECT_NAME}_unit PRIVATE VERSION ${TESSERACT_CXX_VERSION})
target_code_coverage(
${PROJECT_NAME}_unit
PRIVATE
ALL
EXCLUDE ${COVERAGE_EXCLUDE}
ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
add_gtest_discover_tests(${PROJECT_NAME}_unit)
add_dependencies(${PROJECT_NAME}_unit ${PROJECT_NAME})
add_dependencies(run_tests ${PROJECT_NAME}_unit)
if(tesseract_collision_fcl_FOUND AND tesseract_collision_bullet_FOUND)
add_executable(${PROJECT_NAME}_unit tesseract_environment_unit.cpp)
target_link_libraries(
${PROJECT_NAME}_unit
PRIVATE GTest::GTest
GTest::Main
${PROJECT_NAME}
OpenMP::OpenMP_CXX
tesseract::tesseract_support
tesseract::tesseract_urdf
tesseract::tesseract_collision_bullet
tesseract::tesseract_collision_fcl
tesseract::tesseract_scene_graph)
target_compile_options(${PROJECT_NAME}_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE}
${TESSERACT_COMPILE_OPTIONS_PUBLIC})
target_compile_definitions(${PROJECT_NAME}_unit PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
target_clang_tidy(${PROJECT_NAME}_unit ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
target_cxx_version(${PROJECT_NAME}_unit PRIVATE VERSION ${TESSERACT_CXX_VERSION})
target_code_coverage(
${PROJECT_NAME}_unit
PRIVATE
ALL
EXCLUDE ${COVERAGE_EXCLUDE}
ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
add_gtest_discover_tests(${PROJECT_NAME}_unit)
add_dependencies(${PROJECT_NAME}_unit ${PROJECT_NAME})
add_dependencies(run_tests ${PROJECT_NAME}_unit)
endif()

add_executable(${PROJECT_NAME}_collision tesseract_environment_collision.cpp)
target_link_libraries(
Expand Down