cmake_minimum_required(VERSION 3.22)

# Project properties
set(PROJECT_NAME hpp-bezier-com-traj)
set(PROJECT_DESCRIPTION
    "Multi contact trajectory generation for the COM using Bezier curves"
)

# Project options
option(USE_GLPK "Use sparse lp solver" OFF)
option(
    PRINT_QHULL_INEQ
    "generate text file containing last inequality computed"
    OFF
)

# Project configuration
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CUSTOM_HEADER_DIR "hpp/bezier-com-traj")
set(CXX_DISABLE_WERROR TRUE)

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()

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

# Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})

if(BUILD_PYTHON_INTERFACE)
    string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
    add_project_dependency(eigenpy 2.7.12 REQUIRED)
endif(BUILD_PYTHON_INTERFACE)

# Project dependencies

add_project_dependency(hpp-centroidal-dynamics REQUIRED)
add_project_dependency(ndcurves REQUIRED)

if(USE_GLPK)
    add_project_dependency(glpk REQUIRED FIND_EXTERNAL glpk)
    add_definitions(-DUSE_GLPK_SOLVER=1)
endif(USE_GLPK)

# Main Library
set(${PROJECT_NAME}_HEADERS
    include/${CUSTOM_HEADER_DIR}/common_solve_methods.hh
    include/${CUSTOM_HEADER_DIR}/common_solve_methods.inl
    include/${CUSTOM_HEADER_DIR}/cost/costfunction_definition.hh
    include/${CUSTOM_HEADER_DIR}/data.hh
    include/${CUSTOM_HEADER_DIR}/definitions.hh
    include/${CUSTOM_HEADER_DIR}/flags.hh
    include/${CUSTOM_HEADER_DIR}/local_config.hh
    include/${CUSTOM_HEADER_DIR}/solve_end_effector.hh
    include/${CUSTOM_HEADER_DIR}/solve.hh
    include/${CUSTOM_HEADER_DIR}/solver/eiquadprog-fast.hpp # TODO: use
    # stack-of-task/eiquadprog
    include/${CUSTOM_HEADER_DIR}/solver/glpk-wrapper.hpp
    include/${CUSTOM_HEADER_DIR}/solver/solver-abstract.hpp
    include/${CUSTOM_HEADER_DIR}/utils.hh
    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_c1.hh
    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1_c1.hh
    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_dc1.hh
    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_c1.hh
    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_dc1_c1.hh
    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_ddc1_dc1_c1.hh
    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0.hh
    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_j1_ddc1_dc1_c1.hh
    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x3_j1_ddc1_dc1_c1.hh
    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_c0_dc0_ddc0_j0_x5_j1_ddc1_dc1_c1.hh
    include/${CUSTOM_HEADER_DIR}/waypoints/waypoints_definition.hh
)

set(${PROJECT_NAME}_SOURCES
    src/common_solve_methods.cpp
    src/costfunction_definition.cpp
    src/solver-abstract.cpp
    src/eiquadprog-fast.cpp
    src/computeCOMTraj.cpp
    src/solve_0_step.cpp
    src/utils.cpp
    src/waypoints_definition.cpp
)

if(USE_GLPK)
    set(${PROJECT_NAME}_SOURCES ${${PROJECT_NAME}_SOURCES} src/glpk-wrapper.cpp)
endif(USE_GLPK)

add_library(
    ${PROJECT_NAME}
    SHARED
    ${${PROJECT_NAME}_SOURCES}
    ${${PROJECT_NAME}_HEADERS}
)
target_include_directories(
    ${PROJECT_NAME}
    PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
)
target_link_libraries(
    ${PROJECT_NAME}
    ndcurves::ndcurves
    hpp-centroidal-dynamics::hpp-centroidal-dynamics
)

if(USE_GLPK)
    target_link_libraries(${PROJECT_NAME} glpk::glpk)
endif(USE_GLPK)

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

add_subdirectory(tests)
if(BUILD_PYTHON_INTERFACE)
    add_subdirectory(python)
endif(BUILD_PYTHON_INTERFACE)
