CMakeLists.txt

###
### CMakeLists.txt file for ArmarX Interfaces
###

set(ROBOTAPI_INTERFACE_DEPEND ArmarXCore ArmarXGui)

set(SLICE_FILES
    observers/KinematicUnitObserverInterface.ice
    observers/PlatformUnitObserverInterface.ice
    observers/ObserverFilters.ice
    observers/GraspCandidateObserverInterface.ice

    core/BlackWhitelist.ice
    core/PoseBase.ice
    core/GeometryBase.ice
    core/OrientedPoint.ice
    core/LinkedPoseBase.ice
    core/FramedPoseBase.ice
    core/RobotLocalization.ice
    core/RobotState.ice
    core/RobotStateObserverInterface.ice
    core/Trajectory.ice
    core/CartesianSelection.ice
    core/CartesianWaypointControllerConfig.ice
    core/CartesianPositionControllerConfig.ice
    core/CartesianNaturalPositionControllerConfig.ice
    core/TopicTimingTest.ice
    core/FTSensorValue.ice
    core/NameValueMap.ice

    selflocalisation/SelfLocalisationProcess.ice

    speech/SpeechInterface.ice
    observers/SpeechObserverInterface.ice
    observers/GraspCandidateObserverInterface.ice

    ArmarXObjects/ArmarXObjectsTypes.ice

    objectpose/object_pose_types.ice
    objectpose/ObjectPoseStorageInterface.ice
    objectpose/ObjectPoseProvider.ice

    units/MultiHandUnitInterface.ice
    units/ForceTorqueUnit.ice
    units/InertialMeasurementUnit.ice
    units/OptoForceUnit.ice
    units/LaserScannerUnit.ice
    units/HandUnitInterface.ice
    units/HapticUnit.ice
    units/WeissHapticUnit.ice
    units/HeadIKUnit.ice
    units/KinematicUnitInterface.ice
    units/PlatformUnitInterface.ice
    units/LocalizationUnitInterface.ice
    units/RobotPoseUnitInterface.ice
    units/TCPControlUnit.ice
    units/TCPMoverUnitInterface.ice
    units/UnitInterface.ice
    units/ATINetFTUnit.ice
    units/OrientedTactileSensorUnit.ice
    units/GamepadUnit.ice
    units/MetaWearIMUInterface.ice
    units/MetaWearIMU.ice
    units/CyberGloveInterface.ice
    units/CyberGloveObserverInterface.ice
    units/GraspCandidateProviderInterface.ice
    units/KITProstheticHandInterface.ice
    units/RobotUnit/NJointController.ice
    units/RobotUnit/NJointTrajectoryController.ice
    units/RobotUnit/NJointCartesianVelocityController.ice
    units/RobotUnit/NJointCartesianTorqueController.ice
    units/RobotUnit/NJointCartesianVelocityControllerWithRamp.ice
    units/RobotUnit/NJointCartesianWaypointController.ice
    units/RobotUnit/NJointCartesianNaturalPositionController.ice
    units/RobotUnit/RobotUnitInterface.ice

    units/RobotUnit/NJointBimanualForceController.ice
    units/RobotUnit/NJointBimanualObjLevelController.ice
    units/RobotUnit/NJointBimanualCartesianAdmittanceController.ice
    units/RobotUnit/NJointJointSpaceDMPController.ice
    units/RobotUnit/NJointTaskSpaceDMPController.ice
    units/RobotUnit/NJointBimanualForceMPController.ice

    units/RobotUnit/NjointZeroTorqueController.ice
    units/RobotUnit/NJointCurrentController.ice
    units/RobotUnit/NJointActiveImpedanceController.ice

    units/RobotUnit/DSControllerBase.ice

    units/RobotUnit/TaskSpaceActiveImpedanceControl.ice

    # Disabled for being unstable. To be replaced by skills/view_selection. Use GazeControl of ActiveVision instead.
    # components/FrameTrackingInterface.ice
    components/RobotHealthInterface.ice
    components/RobotNameServiceInterface.ice
    components/TrajectoryPlayerInterface.ice
    components/ViewSelectionInterface.ice

    components/CartesianPositionControlInterface.ice
    components/NaturalIKInterface.ice

    visualization/DebugDrawerInterface.ice
    visualization/DebugDrawerToArViz.ice

    ArViz.ice
    ArViz/Elements.ice
    ArViz/Component.ice

    aron.ice
    aron/Aron.ice
    aron/test/AronConversionTestInterface.ice


    armem.ice
    armem/actions.ice
    armem/structure.ice
    armem/commit.ice
    armem/memory.ice
    armem/prediction.ice
    armem/query.ice

    armem/client.ice
    armem/client/MemoryListenerInterface.ice

    armem/server.ice
    armem/server/ActionsInterface.ice
    armem/server/RecordingMemoryInterface.ice
    armem/server/ReplayingMemoryInterface.ice
    armem/server/MemoryInterface.ice
    armem/server/PredictingMemoryInterface.ice
    armem/server/ReadingMemoryInterface.ice
    armem/server/WritingMemoryInterface.ice

    # Special Servers
    armem/server/ObjectMemoryInterface.ice

    # Special Addons
    armem/addon/LegacyRobotStateMemoryAdapterInterface.ice

    armem/mns.ice
    armem/mns/MemoryNameSystemInterface.ice


    components/ObstacleAvoidance/ObstacleAvoidanceInterface.ice
    components/ObstacleAvoidance/ObstacleDetectionInterface.ice
    components/ObstacleAvoidance/DSObstacleAvoidanceInterface.ice
    components/ObstacleAvoidance/DynamicObstacleManagerInterface.ice

    skills/SkillManagerInterface.ice
    skills/StatechartListenerInterface.ice
    skills/SkillMemoryInterface.ice
    skills/SkillProviderInterface.ice

    mdb/MotionDatabase.ice
)
    #core/RobotIK.ice
set(SLICE_FILES_ADDITIONAL_HEADERS
    core/PoseBaseStdOverloads.h
    units/KinematicUnitInterfaceStdOverloads.h
    visualization/DebugDrawerInterfaceStdOverloads.h
)

set(SLICE_FILES_ADDITIONAL_SOURCES
    units/KinematicUnitInterfaceStdOverloads.cpp
)

# generate the interface library
armarx_interfaces_generate_library(RobotAPI "${ROBOTAPI_INTERFACE_DEPEND}")

target_link_libraries(RobotAPIInterfaces PUBLIC ArmarXCore)