From 6e5b9634d55f0b5ea8e8a24018a1f5afeff55f91 Mon Sep 17 00:00:00 2001 From: methylDragon <methylDragon@google.com> Date: Mon, 20 Nov 2023 15:58:51 -0800 Subject: [PATCH] Split out motion plan cache into its own library Signed-off-by: methylDragon <methylDragon@gmail.com> --- nexus_motion_planner/CMakeLists.txt | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/nexus_motion_planner/CMakeLists.txt b/nexus_motion_planner/CMakeLists.txt index e9003bf..ca94c1e 100644 --- a/nexus_motion_planner/CMakeLists.txt +++ b/nexus_motion_planner/CMakeLists.txt @@ -43,12 +43,17 @@ set (test_request_dependencies ) #=============================================================================== -set(LIBRARY_NAME motion_planner_server_core) +set(MOTION_PLAN_CACHE_LIBRARY_NAME motion_planner_server_core) set(EXECUTABLE_NAME motion_planner_server) +# Motion plan cache library +add_library(${MOTION_PLAN_CACHE_LIBRARY_NAME} src/motion_plan_cache.cpp) +ament_target_dependencies(${MOTION_PLAN_CACHE_LIBRARY_NAME} ${motion_planner_server_dependencies}) + # Server executable -add_executable(${EXECUTABLE_NAME} src/main.cpp src/motion_planner_server.cpp src/motion_plan_cache.cpp) +add_executable(${EXECUTABLE_NAME} src/main.cpp src/motion_planner_server.cpp) ament_target_dependencies(${EXECUTABLE_NAME} ${motion_planner_server_dependencies}) +target_link_libraries(${EXECUTABLE_NAME} ${MOTION_PLAN_CACHE_LIBRARY_NAME}) # Test executable add_executable(test_request src/test_request.cpp)