30 lines
1.0 KiB
CMake
Executable File
30 lines
1.0 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.1.0)
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project(unitree_actuator_sdk)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
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include_directories(include)
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link_directories(lib)
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if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "aarch64")
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set(EXTRA_LIBS libUnitreeMotorSDK_Arm64.so)
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else()
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set(EXTRA_LIBS libUnitreeMotorSDK_Linux64.so)
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endif()
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#example
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add_executable(example_a1_motor example/example_a1_motor.cpp)
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target_link_libraries(example_a1_motor ${EXTRA_LIBS})
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add_executable(example_b1_motor example/example_b1_motor.cpp)
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target_link_libraries(example_b1_motor ${EXTRA_LIBS})
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add_executable(example_goM8010_6_motor example/example_goM8010_6_motor.cpp)
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target_link_libraries(example_goM8010_6_motor ${EXTRA_LIBS})
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set(LIBRARY_OUTPUT_PATH "../lib")
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add_subdirectory(thirdparty/pybind11)
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pybind11_add_module(unitree_actuator_sdk thirdparty/python_wrapper/wrapper.cpp)
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target_link_libraries(unitree_actuator_sdk PRIVATE ${EXTRA_LIBS})
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set_target_properties(unitree_actuator_sdk PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${LIBRARY_OUTPUT_PATH}") |