Nimrod Gileadi
002b427a32
Implement a configurable PID controller. PiperOrigin-RevId: 585282014 Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
42 lines
1.2 KiB
CMake
42 lines
1.2 KiB
CMake
# Copyright 2023 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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set(MUJOCO_ACTUATOR_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/../..
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${CMAKE_CURRENT_SOURCE_DIR}/../../src
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)
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set(MUJOCO_ACTUATOR_SRCS
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pid.cc
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pid.h
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register.cc
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)
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add_library(actuator SHARED)
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target_sources(actuator PRIVATE ${MUJOCO_ACTUATOR_SRCS})
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target_include_directories(actuator PRIVATE ${MUJOCO_ACTUATOR_INCLUDE})
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target_link_libraries(actuator PRIVATE mujoco)
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target_compile_options(
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actuator
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PRIVATE ${AVX_COMPILE_OPTIONS}
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${MUJOCO_MACOS_COMPILE_OPTIONS}
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${EXTRA_COMPILE_OPTIONS}
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${MUJOCO_CXX_FLAGS}
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)
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target_link_options(
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actuator
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PRIVATE
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${MUJOCO_MACOS_LINK_OPTIONS}
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${EXTRA_LINK_OPTIONS}
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)
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