QT = core

CONFIG += c++17 cmdline

# You can make your code fail to compile if it uses deprecated APIs.
# In order to do so, uncomment the following line.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0

SOURCES += \
        csc_matrix_conv.cpp \
        lowpass_filter.cpp \
        main.cpp \
        mpc.cpp \
        mpc_trajectory.cpp \
        mpc_utils.cpp \
        mpctest.cpp \
        osqp_interface.cpp \
        qp_solver/qp_solver_osqp.cpp \
        qp_solver/qp_solver_unconstraint_fast.cpp \
        steering_offset/steering_offset.cpp \
        steering_predictor.cpp \
        vehicle_info.cpp \
        vehicle_info_util.cpp \
        vehicle_model/vehicle_model_bicycle_dynamics.cpp \
        vehicle_model/vehicle_model_bicycle_kinematics.cpp \
        vehicle_model/vehicle_model_bicycle_kinematics_no_delay.cpp \
        vehicle_model/vehicle_model_interface.cpp

# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target


unix:INCLUDEPATH += /usr/include/eigen3
win32:INCLUDEPATH += D:\File\soft\eigen

INCLUDEPATH += /opt/ros/humble/include

HEADERS += \
    mpc_lateral_controller/lowpass_filter.hpp \
    mpc_lateral_controller/mpc.hpp \
    mpc_lateral_controller/mpc_trajectory.hpp \
    mpc_lateral_controller/mpc_utils.hpp \
    mpc_lateral_controller/qp_solver/qp_solver_interface.hpp \
    mpc_lateral_controller/qp_solver/qp_solver_osqp.hpp \
    mpc_lateral_controller/qp_solver/qp_solver_unconstraint_fast.hpp \
    mpc_lateral_controller/steering_offset/steering_offset.hpp \
    mpc_lateral_controller/steering_predictor.hpp \
    mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_dynamics.hpp \
    mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics.hpp \
    mpc_lateral_controller/vehicle_model/vehicle_model_bicycle_kinematics_no_delay.hpp \
    mpc_lateral_controller/vehicle_model/vehicle_model_interface.hpp \
    mpctest.h \
    vehicle_info_util/vehicle_info.hpp \
    vehicle_info_util/vehicle_info_util.hpp

INCLUDEPATH += $$PWD/../../common/include

!include(../../../include/common.pri ) {
    error( "Couldn't find the common.pri file!" )
}

LIBS += -linterpolation
LIBS += -L/opt/ros/humble/lib -losqp