CMakeLists.txt

# Copyright (C) 2020 Istituto Italiano di Tecnologia (IIT). All rights reserved.
# This software may be modified and distributed under the terms of the
# BSD-3-Clause license.

if(FRAMEWORK_COMPILE_SimplifiedModelControllers)

  set(H_PREFIX include/BipedalLocomotion/SimplifiedModelControllers)

  add_bipedal_locomotion_library(
    NAME                   SimplifiedModelControllers
    PUBLIC_HEADERS         ${H_PREFIX}/CoMZMPController.h
    SOURCES                src/CoMZMPController.cpp
    PUBLIC_LINK_LIBRARIES  Eigen3::Eigen BipedalLocomotion::ParametersHandler MANIF::manif BipedalLocomotion::System
    PRIVATE_LINK_LIBRARIES BipedalLocomotion::TextLogging
    SUBDIRECTORIES         tests)
endif()