Added C++ client to be compiled with other targets
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Blyron
Blyron
parent
e9fdf846d0
commit
b29456719c
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@ -1 +1,73 @@
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add_subdirectory (CppClient)
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set (
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CARLA_EXAMPLE_CPP_CLIENT_SOURCE_PATH
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${CARLA_WORKSPACE_PATH}/Examples/CppClient
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)
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set (
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CARLA_EXAMPLE_CPP_DEPENDENCIES
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carla-client
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rpc
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png_static
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zlibstatic
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Boost::asio
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Boost::python
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Boost::geometry
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Boost::gil
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RecastNavigation::Recast
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RecastNavigation::Detour
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RecastNavigation::DetourCrowd
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)
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if (BUILD_EXAMPLES)
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carla_message ("CARLA Building C++ EXAMPLE CLIENT")
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project (
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carla-example-cpp-client
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LANGUAGES
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CXX
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VERSION
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${CARLA_VERSION}
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)
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file (
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GLOB_RECURSE
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CARLA_EXAMPLE_CPP_SOURCES
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CONFIGURE_DEPENDS
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${CARLA_EXAMPLE_CPP_CLIENT_SOURCE_PATH}/*.cpp
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)
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file (
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GLOB_RECURSE
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CARLA_EXAMPLE_CPP_HEADERS
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CONFIGURE_DEPENDS
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${CARLA_EXAMPLE_CPP_CLIENT_SOURCE_PATH}/*.h
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)
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carla_add_executable (
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carla-example-client
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"Build the CARLA C++ client example."
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${CARLA_EXAMPLE_CPP_SOURCES}
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)
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add_dependencies (
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carla-example-client
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${CARLA_EXAMPLE_CPP_DEPENDENCIES}
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)
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target_link_libraries (
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carla-example-client PUBLIC
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carla-client
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Boost::asio
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Boost::python
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Boost::algorithm
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Boost::geometry
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Boost::assert
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Boost::gil
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RecastNavigation::Recast
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RecastNavigation::Detour
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RecastNavigation::DetourCrowd
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png_static
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zlibstatic
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rpc
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)
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endif ()
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@ -1,5 +0,0 @@
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/ToolChain.cmake
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/bin
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/build
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/libcarla-install
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_*
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@ -1,12 +0,0 @@
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project (carla-example-cpp-client)
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carla_add_executable (
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carla-example-cpp-client
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"Build the CARLA C++ client example."
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main.cpp
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)
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target_link_libraries (
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carla-example-cpp-client PRIVATE
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carla-client
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)
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@ -1,64 +0,0 @@
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CARLADIR=$(CURDIR)/../..
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BUILDDIR=$(CURDIR)/build
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BINDIR=$(CURDIR)/bin
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INSTALLDIR=$(CURDIR)/libcarla-install
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TOOLCHAIN=$(CURDIR)/ToolChain.cmake
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CC=/usr/bin/gcc-7
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CXX=/usr/bin/g++-7
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CXXFLAGS=-std=c++14 -pthread -fPIC -O3 -DNDEBUG -Werror -Wall -Wextra
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define log
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@echo "\033[1;35m$(1)\033[0m"
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endef
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default: build
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clean:
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@rm -rf $(BUILDDIR) $(INSTALLDIR)
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@rm -f ToolChain.cmake
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run: build
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$(call log,Running C++ Client...)
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@$(BINDIR)/cpp_client $(ARGS)
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run.only:
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$(call log,Running C++ Client...)
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@$(BINDIR)/cpp_client $(ARGS)
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build: $(BINDIR)/cpp_client
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$(BINDIR)/cpp_client: | build_libcarla
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$(call log,Compiling C++ Client...)
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@mkdir -p $(BINDIR)
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@$(CXX) $(CXXFLAGS) -I$(INSTALLDIR)/include -isystem $(INSTALLDIR)/include/system -L$(INSTALLDIR)/lib \
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-o $(BINDIR)/cpp_client main.cpp \
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-Wl,-Bstatic -lcarla_client -lrpc -lboost_filesystem -Wl,-Bdynamic \
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-lpng -ltiff -ljpeg -lRecast -lDetour -lDetourCrowd
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build_libcarla: $(TOOLCHAIN)
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@cd $(CARLADIR); make setup
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@mkdir -p $(BUILDDIR)
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$(call log,Compiling LibCarla.client...)
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@{ \
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cd $(BUILDDIR); \
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if [ ! -f "build.ninja" ]; then \
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cmake \
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-G "Ninja" \
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-DCMAKE_BUILD_TYPE=Client \
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-DLIBCARLA_BUILD_RELEASE=ON \
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-DLIBCARLA_BUILD_DEBUG=OFF \
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-DLIBCARLA_BUILD_TEST=OFF \
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-DCMAKE_TOOLCHAIN_FILE=$(TOOLCHAIN) \
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-DCMAKE_INSTALL_PREFIX=$(INSTALLDIR) \
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-DCMAKE_EXPORT_COMPILE_COMMANDS=1 \
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$(CARLADIR); \
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fi; \
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ninja; \
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ninja install | grep -v "Up-to-date:"; \
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}
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$(TOOLCHAIN):
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@echo "set(CMAKE_C_COMPILER $(CC))" > $(TOOLCHAIN)
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@echo "set(CMAKE_CXX_COMPILER $(CXX))" >> $(TOOLCHAIN)
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@echo "set(CMAKE_CXX_FLAGS \"\$${CMAKE_CXX_FLAGS} $(CXXFLAGS)\" CACHE STRING \"\" FORCE)" >> $(TOOLCHAIN)
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@ -1,80 +0,0 @@
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C++ Client Example
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==================
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This example creates an application using CARLA's C++ API to connect and control
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the simulator from C++.
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Compile and run
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---------------
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Use the Makefile provided (Linux only), to compile and run the example. Note
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that it expects to have a simulator running at port 2000.
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```
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make run
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```
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How it works
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------------
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In order to link our application against LibCarla, we need to compile LibCarla
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with the same compiler and configuration we are using with our application. To
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do so, we generate a CMake tool-chain file specifying the compiler and flags we
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want
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```cmake
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# Example ToolChain.cmake
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set(CMAKE_C_COMPILER /usr/bin/clang-8)
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set(CMAKE_CXX_COMPILER /usr/bin/clang++-8)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3 -DNDEBUG" CACHE STRING "" FORCE)
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```
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We pass this file to CMake when compiling LibCarla.client
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```sh
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cd /path/to/carla-root-folder
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make setup
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cd /path/to/build-folder
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cmake \
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-G "Ninja" \
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-DCMAKE_BUILD_TYPE=Client \
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-DLIBCARLA_BUILD_RELEASE=ON \
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-DLIBCARLA_BUILD_DEBUG=OFF \
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-DLIBCARLA_BUILD_TEST=OFF \
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-DCMAKE_TOOLCHAIN_FILE=/path/to/ToolChain.cmake \
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-DCMAKE_INSTALL_PREFIX=/path/to/install-folder \
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/path/to/carla-root-folder
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ninja
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ninja install
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```
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This will generate the following structure at the provided install path
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```
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libcarla-install
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├── include
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│ ├── carla
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│ ├── cephes
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│ ├── pugixml
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| ├── ...
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│ └── system
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│ ├── boost
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│ ├── recast
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│ └── rpc
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└── lib
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├── libcarla_client.a
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├── librpc.a
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├── libboost_filesystem.a
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└── ...
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```
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Our application needs to be linked at minimum against `libcarla_client.a`,
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`librpc.a`, `libRecast.a`, and `libDetour*.a`. If we make use of IO
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functionality and/or image processing we would need to link against
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`boost_filesystem`, `png`, `tiff`, and/or `jpeg`.
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For more details take a look at the Makefile provided.
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@ -1,11 +0,0 @@
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message("Hello world!")
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set(CC, "$ENV{UE4_ROOT}/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang")
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set(CXX, "$ENV{UE4_ROOT}/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang++")
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message(STATUS "COMBINED_PATH: ${CC}")
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message(STATUS "COMBINED_PATH: ${CXX}")
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set(CMAKE_C_COMPILER ${CC})
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set(CMAKE_CXX_COMPILER ${CXX})
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -fPIC -O3 -DNDEBUG" CACHE STRING "" FORCE)
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