From 010c66ec9ac1b94b108d370c648503ce69ad38b5 Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Tue, 24 Apr 2018 21:43:26 +0200
Subject: [PATCH] Added Eigen library to CMakeLists.txt It needs to be
installed before hand
---
pps_ws/src/d_fall_pps/CMakeLists.txt | 8 +++++---
pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp | 6 ++----
2 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index 1247d944..dc1394e6 100755
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/pps_ws/src/d_fall_pps/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0)
project(d_fall_pps)
## Add support for C++11, supported in ROS Kinetic and newer
@@ -15,8 +15,9 @@ find_package(catkin REQUIRED COMPONENTS
genmsg
rosbag
roslib
-)
+ )
+find_package (Eigen3 3.3 REQUIRED NO_MODULE)
# GUI -- Add precompiler definitions to include ROS things in GUI compilation
add_definitions(-DCATKIN_MAKE)
@@ -34,6 +35,7 @@ find_package(Qt5Core REQUIRED)
find_package(Qt5Gui REQUIRED)
find_package(Qt5Svg REQUIRED)
+
# GUI -- Add src and includes
set(MY_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/src)
set(MY_GUI_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/include)
@@ -355,7 +357,7 @@ target_link_libraries(PPSClient ${catkin_LIBRARIES})
target_link_libraries(SafeControllerService ${catkin_LIBRARIES})
target_link_libraries(DemoControllerService ${catkin_LIBRARIES})
target_link_libraries(StudentControllerService ${catkin_LIBRARIES})
-target_link_libraries(MpcControllerService ${catkin_LIBRARIES})
+target_link_libraries(MpcControllerService ${catkin_LIBRARIES} Eigen3::Eigen)
target_link_libraries(CentralManagerService ${catkin_LIBRARIES})
target_link_libraries(ParameterService ${catkin_LIBRARIES})
diff --git a/pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp b/pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
index 194d25e5..e0ea789d 100644
--- a/pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
@@ -60,7 +60,7 @@
#include <std_msgs/Int32.h>
-
+#include <Eigen/Dense>
@@ -246,7 +246,7 @@ void processFetchedParameters();
// ------------------------------------------------------------------------------
-// OOO U U TTTTT EEEEE RRRR
+// OOO U U TTTTT EEEEE RRRR
// O O U U T E R R
// O O U U T EEE RRRR
// O O U U T E R R
@@ -403,8 +403,6 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
}
-
-
// **********************
// Y Y A W W
// Y Y A A W W
--
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