#
# Copyright (c) 2016, 2020 CNRS Author: Anna Seppala, Guilhem Saurel
#
# This file is part of hpp-model hpp-model is free software: you can
# redistribute it and/or modify it under the terms of the GNU Lesser General
# Public License as published by the Free Software Foundation, either version 3
# of the License, or (at your option) any later version.
#
# hpp-model is distributed in the hope that it will be useful, but WITHOUT ANY
# WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
# A PARTICULAR PURPOSE.  See the GNU General Lesser Public License for more
# details.  You should have received a copy of the GNU Lesser General Public
# License along with hpp-model  If not, see <http://www.gnu.org/licenses/>.

cmake_minimum_required(VERSION 3.22)

set(PROJECT_NAME hpp-affordance)
set(PROJECT_DESCRIPTION
    "Implementation to Extract Whole-Body Affordances for Mutli-Contact Planning."
)

set(CXX_DISABLE_WERROR TRUE)
set(PROJECT_USE_CMAKE_EXPORT TRUE)

# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
    message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
else()
    find_package(jrl-cmakemodules QUIET CONFIG)
    if(jrl-cmakemodules_FOUND)
        get_property(
            JRL_CMAKE_MODULES
            TARGET jrl-cmakemodules::jrl-cmakemodules
            PROPERTY INTERFACE_INCLUDE_DIRECTORIES
        )
        message(
            STATUS
            "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}"
        )
    else()
        message(STATUS "JRL cmakemodules not found. Let's fetch it.")
        include(FetchContent)
        FetchContent_Declare(
            "jrl-cmakemodules"
            GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
        )
        FetchContent_MakeAvailable("jrl-cmakemodules")
        FetchContent_GetProperties(
            "jrl-cmakemodules"
            SOURCE_DIR JRL_CMAKE_MODULES
        )
    endif()
endif()

include("${JRL_CMAKE_MODULES}/hpp.cmake")

compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})

add_project_dependency(Eigen3)
add_project_dependency(coal)

set(${PROJECT_NAME}_HEADERS
    include/hpp/affordance/fwd.hh
    include/hpp/affordance/affordance-extraction.hh
    include/hpp/affordance/operations.hh
)

set(${PROJECT_NAME}_SOURCES src/affordance-extraction.cc)

add_library(
    ${PROJECT_NAME}
    SHARED
    ${${PROJECT_NAME}_SOURCES}
    ${${PROJECT_NAME}_HEADERS}
)
target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIR})
target_include_directories(
    ${PROJECT_NAME}
    PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
)
target_link_libraries(${PROJECT_NAME} coal::coal)

install(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)

add_subdirectory(tests)

config_files(include/hpp/affordance/doc.hh)
pkg_config_append_libs("hpp-affordance")
