chenrc98
diff --git a/.github/workflows/pages-with-encryption.yml b/.github/workflows/pages-with-encryption.yml
@@ -0,0 +1,66 @@
+name: Deploy Jekyll with GitHub Pages/Encryption
+
+on:
+  # Runs on pushes targeting the default branch
+  push:
+    branches: ["master", "passwd_test"]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued.
+# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete.
+concurrency:
+  group: "pages"
+  cancel-in-progress: false
+
+jobs:
+  # Build job
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      # - name: Setup Pages
+      #   uses: actions/configure-pages@v3
+      - name: Build with Jekyll
+        uses: actions/jekyll-build-pages@v1
+        with:
+          source: ./docs
+          destination: ./docs/_site
+
+      # Begin encryption code.
+      # This portion of the build job was written by Evan Baldonado (EvanBaldonado.com). Please do not remove this comment.
+      # Note: this only encrypts .html pages and not any of the corresponding assets.
+      - name: Encrypt pages with PageCrypt
+        working-directory: ./docs
+        run: |
+          npm i -D pagecrypt
+          cat _protected_pages.txt | while read file password;
+          do
+            sudo npx pagecrypt "_site/$file" "_site/$file" "$password"
+          done
+      # End encryption code.
+
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: ./docs/_site
+
+  # Deployment job
+  deploy:
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-latest
+    needs: build
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,3 @@
+.idea
+.vscode
+.DS_Store
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -15,6 +15,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+SET(CMAKE_CXX_FLAGS -fPIC)
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -27,16 +29,74 @@ find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED NO_MODULE)
 find_package(px4_ros_com REQUIRED)
 
-add_executable(dascRobot src/DASCAerialRobot.cpp)
-ament_target_dependencies(dascRobot rclcpp px4_msgs geometry_msgs tf2 tf2_ros px4_ros_com)
-target_include_directories(dascRobot PUBLIC
+add_library(dascBots src/DASCRobots.cpp)
+ament_target_dependencies(dascBots rclcpp px4_msgs geometry_msgs tf2 tf2_ros px4_ros_com)
+target_include_directories(dascBots PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
 )
+ament_export_libraries(dascBots)
+install(
+  TARGETS dascBots
+  EXPORT export_dascBots
+  LIBRARY DESTINATION lib/${PROJECT_NAME}
+  ARCHIVE DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin/${PROJECT_NAME}
+  INCLUDES DESTINATION include/${PROJECT_NAME}
+)
+
+add_library(dasc_robot_lib SHARED src/dasc_robot_lib.cpp)
+ament_target_dependencies(dasc_robot_lib rclcpp px4_msgs geometry_msgs tf2 tf2_ros px4_ros_com)
+target_link_libraries(dasc_robot_lib dascBots)
+target_include_directories(dasc_robot_lib PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+)
+ament_export_libraries(dasc_robot_lib)
+install(
+  TARGETS dasc_robot_lib
+  EXPORT export_dasc_robot_lib
+  LIBRARY DESTINATION lib/${PROJECT_NAME}
+  ARCHIVE DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin/${PROJECT_NAME}
+  INCLUDES DESTINATION include/${PROJECT_NAME}
+)
+
+
+
+
+set(Examples
+	check_robot
+	example_control
+	example_control_multi_rover
+	example_control_geometric
+	example_control_geometric_velocity
+	example_control_geometric_acceleration
+	example_quad_takeoff_and_land
+	example_quad_circle
+	example_quad_circle_trajectory
+	# example_quad_trefoil
+)
+
+message(STATUS "TEST!!")
+
+foreach( ex  ${Examples})
+
+    add_executable(${ex}  src/${ex}.cpp)
+    ament_target_dependencies(${ex}
+    	rclcpp px4_msgs geometry_msgs tf2 tf2_ros px4_ros_com) 
+    target_link_libraries(${ex} dascBots)
+    target_include_directories(${ex}
+    	PUBLIC
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
+      $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+    )
+    install(TARGETS
+      ${ex}
+      DESTINATION lib/${PROJECT_NAME}
+    )
 
+endforeach()
 
-install(TARGETS
-  dascRobot
-  DESTINATION lib/${PROJECT_NAME})
 
 ament_package()