cmake_minimum_required(VERSION 3.8)
project(j7s-optimization)

add_compile_options(-Wall -Wextra -Wpedantic)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_ros REQUIRED)
find_package(rclcpp REQUIRED)

add_library(cost_function
  src/CostFunction.cpp)
target_compile_features(cost_function PUBLIC cxx_std_17)
target_include_directories(cost_function PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)

add_library(simplex_solver
  src/SimplexSolver.cpp)
target_link_libraries(simplex_solver cost_function)
target_compile_features(simplex_solver PUBLIC cxx_std_17)
target_include_directories(simplex_solver PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)

add_library(nelder_mead
  src/NelderMead.cpp)
target_link_libraries(nelder_mead cost_function)
target_compile_features(nelder_mead PUBLIC cxx_std_17)
target_include_directories(nelder_mead PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)

add_executable(main src/main.cpp)
target_compile_features(main PUBLIC cxx_std_17)
target_link_libraries(main cost_function simplex_solver nelder_mead)
target_include_directories(main PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
ament_target_dependencies(main rclcpp)

install(
  DIRECTORY include/
  DESTINATION include
)
install(
  TARGETS
    cost_function
    simplex_solver
    nelder_mead
  EXPORT export_${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)
install(
  TARGETS
    main
  DESTINATION lib/${PROJECT_NAME})

ament_export_include_directories(
  include
)
ament_export_libraries(
  cost_function
  simplex_solver
  nelder_mead
)
ament_export_targets(
  export_${PROJECT_NAME}
)

ament_package()