add single obstacle test and data logging. Code cleanup

haritsahm · Jul 27, 2020 · 8e825aa · 8e825aa
1 parent 566deed
commit 8e825aa
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Showing 11 changed files with 993 additions and 404 deletions.
diff --git a/ewok_optimization/CMakeLists.txt b/ewok_optimization/CMakeLists.txt
@@ -3,7 +3,7 @@ project(ewok_optimization)
 
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-add_definitions(-std=c++11 -g -O3 -ftree-vectorize -march=native)
+add_definitions(-std=c++11 -g -O3 )
 
 find_package(catkin_simple REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -23,8 +23,8 @@ target_link_libraries(spline_optimization_example2 nlopt)
 cs_add_executable(spline_optimization_example3 src/spline_optimization_example3.cpp)
 target_link_libraries(spline_optimization_example3 ${CHOLMOD_LIBRARY} nlopt)
 
-cs_add_executable(spline_optimization_example4 src/spline_optimization_example4.cpp)
-target_link_libraries(spline_optimization_example4 ${CHOLMOD_LIBRARY} nlopt)
+cs_add_executable(rrt_optimization_single src/rrt_optimization_single.cpp)
+target_link_libraries(rrt_optimization_single ${CHOLMOD_LIBRARY} ${Eigen3_LIBS} nlopt Boost::thread)
 
 
 cs_add_executable(polynomial_optimization_example src/polynomial_optimization_example.cpp)