# Author: Noel du Toit
# Date: 10/6/10

IF (USE_NAVLITE)
   ADD_DEFINITIONS(-DNAVLITE)
ENDIF (USE_NAVLITE)

# include the local directories for source and build objects
INCLUDE_DIRECTORIES(${navlite_SOURCE_DIR}/src/rrt-planner)

GENGETOPT_FILE(cmdline.ggo cmdline --conf-parse)
ADD_CUSTOM_TARGET(rrt-planner-files SOURCES cmdline.h)
						
# *******************************************************
# Library: librrt-planner-utils
ADD_LIBRARY(rrt-planner-utils	beliefState.cc
				mllnode.cc
				node.cc
				traj.cc
				tree.cc
				rrtUtils.cc
				rrtProblem.cc)
IF (USE_NAVLITE)
   TARGET_LINK_LIBRARIES(rrt-planner-utils	gsl gslcblas 
   					boost_math_tr1-mt 
					nav-utils)
ELSE (USE_NAVLITE)
   TARGET_LINK_LIBRARIES(rrt-planner-utils	gsl gslcblas 
   					boost_math_tr1-mt)
ENDIF (USE_NAVLITE)
ADD_DEPENDENCIES(rrt-planner-utils rrt-planner-files)


# ********************************************************
# Executable: rrt-planner
ADD_EXECUTABLE(rrt-planner 	cmdline.h cmdline.c
				rrtGraph.cc)
TARGET_LINK_LIBRARIES(rrt-planner	rrt-planner-utils)


# ********************************************************
# Executable: rrt-test-utils
#ADD_EXECUTABLE(rrt-test-utils test_utils.cc cmdline.c)
#TARGET_LINK_LIBRARIES(rrt-test-utils	rrt-planner-utils)
