cmake_minimum_required(VERSION 3.10)
project(costmap_2d)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Dependencies
find_package(Eigen3 REQUIRED)

# Include directories
include_directories(
    include
    ${EIGEN3_INCLUDE_DIR}
)

# Library source files
set(COSTMAP_SOURCES
    src/costmap_2d.cpp
    # src/layer.cpp
    src/layered_costmap.cpp
    # src/costmap_layer.cpp
    # src/static_layer.cpp
    # src/obstacle_layer.cpp
    # src/inflation_layer.cpp
    # src/observation_buffer.cpp
    # src/footprint.cpp
)

# Create library
add_library(${PROJECT_NAME} SHARED ${COSTMAP_SOURCES})
target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)

# Install
install(TARGETS ${PROJECT_NAME}
    LIBRARY DESTINATION lib
    ARCHIVE DESTINATION lib
)

install(DIRECTORY include/${PROJECT_NAME}/
    DESTINATION include/${PROJECT_NAME}
)