cmake_minimum_required(VERSION 2.8.3)
project(MPC)

## Compile as C++11, supported in ROS Kinetic and newer
#add_compile_options(-std=c++11)
set(CMAKE_CXX_STANDARD 11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
        nav_msgs
        tf
)

catkin_package(

)

include_directories(
        # include
        "/usr/include/eigen3"
        ${catkin_INCLUDE_DIRS}
)
link_directories(/usr/local/lib)
add_executable(${PROJECT_NAME}_node src/node.cpp src/trajectory/make_trajectory.cpp
        src/mpc/mpc_tools.cpp src/mpc/MonitorMPC.cpp src/trajectory/FourthTrajectory.cpp
        src/mpc/TowBotMPC.cpp)
target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ipopt)


add_executable(${PROJECT_NAME}2_node src/node2.cpp src/trajectory/make_trajectory.cpp
        src/mpc/mpc_tools.cpp src/mpc/MonitorMPC.cpp src/trajectory/FourthTrajectory.cpp
        src/mpc/TowBotMPC.cpp)
target_link_libraries(${PROJECT_NAME}2_node ${catkin_LIBRARIES} ipopt)