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merged with blessed-newcore and made gnsf1/2 work

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FreyJo committed Mar 20, 2018
1 parent d0a2d54 commit 5c7d56603017dfe16eed6e4c8f24ebb5464f8ab2
Showing with 28,068 additions and 10,520 deletions.
  1. +17 −0 .gitignore
  2. +0 −1 .gitmodules
  3. +14 −3 CMakeLists.txt
  4. +16 −14 Makefile
  5. +14 −8 Makefile.rule
  6. +12 −10 acados/CMakeLists.txt
  7. 0 acados/{ → broken_src}/ocp_lin/ocp_lin_common.h
  8. 0 acados/{ocp_nlp → broken_src}/ocp_nlp_sm_common.h
  9. 0 acados/{ocp_nlp → broken_src}/ocp_nlp_sm_gn.c
  10. 0 acados/{ocp_nlp → broken_src}/ocp_nlp_sm_gn.h
  11. +387 −0 acados/broken_src/ocp_nlp_sqp_bkp.c
  12. +85 −0 acados/broken_src/ocp_nlp_sqp_bkp.h
  13. 0 acados/{ocp_qp → broken_src}/ocp_qp_ooqp.c
  14. 0 acados/{ocp_qp → broken_src}/ocp_qp_ooqp.h
  15. +2 −0 acados/dense_qp/Makefile
  16. +57 −13 acados/dense_qp/dense_qp_common.c
  17. +29 −19 acados/dense_qp/dense_qp_common.h
  18. +35 −35 acados/dense_qp/dense_qp_hpipm.c
  19. +7 −7 acados/dense_qp/dense_qp_hpipm.h
  20. +59 −57 acados/dense_qp/dense_qp_qore.c
  21. +10 −10 acados/dense_qp/dense_qp_qore.h
  22. +53 −53 acados/dense_qp/dense_qp_qpoases.c
  23. +7 −7 acados/dense_qp/dense_qp_qpoases.h
  24. +7 −4 acados/ocp_nlp/Makefile
  25. +347 −713 acados/ocp_nlp/ocp_nlp_common.c
  26. +33 −214 acados/ocp_nlp/ocp_nlp_common.h
  27. +513 −0 acados/ocp_nlp/ocp_nlp_constraints.c
  28. +193 −0 acados/ocp_nlp/ocp_nlp_constraints.h
  29. +90 −0 acados/ocp_nlp/ocp_nlp_cost_common.c
  30. +84 −0 acados/ocp_nlp/ocp_nlp_cost_common.h
  31. +331 −0 acados/ocp_nlp/ocp_nlp_cost_external.c
  32. +115 −0 acados/ocp_nlp/ocp_nlp_cost_external.h
  33. +379 −0 acados/ocp_nlp/ocp_nlp_cost_ls.c
  34. +119 −0 acados/ocp_nlp/ocp_nlp_cost_ls.h
  35. +395 −0 acados/ocp_nlp/ocp_nlp_cost_nls.c
  36. +123 −0 acados/ocp_nlp/ocp_nlp_cost_nls.h
  37. +463 −0 acados/ocp_nlp/ocp_nlp_dynamics.c
  38. +181 −0 acados/ocp_nlp/ocp_nlp_dynamics.h
  39. +0 −924 acados/ocp_nlp/ocp_nlp_gn_sqp.c
  40. +0 −148 acados/ocp_nlp/ocp_nlp_gn_sqp.h
  41. +803 −303 acados/ocp_nlp/ocp_nlp_sqp.c
  42. +87 −38 acados/ocp_nlp/ocp_nlp_sqp.h
  43. +1 −1 acados/ocp_qp/Makefile
  44. +12 −10 acados/ocp_qp/ocp_qp_common.c
  45. +27 −20 acados/ocp_qp/ocp_qp_common.h
  46. +35 −35 acados/ocp_qp/ocp_qp_common_frontend.c
  47. +22 −22 acados/ocp_qp/ocp_qp_full_condensing.c
  48. +10 −10 acados/ocp_qp/ocp_qp_full_condensing.h
  49. +53 −51 acados/ocp_qp/ocp_qp_full_condensing_solver.c
  50. +9 −10 acados/ocp_qp/ocp_qp_full_condensing_solver.h
  51. +40 −36 acados/ocp_qp/ocp_qp_hpipm.c
  52. +6 −6 acados/ocp_qp/ocp_qp_hpipm.h
  53. +256 −326 acados/ocp_qp/ocp_qp_hpmpc.c
  54. +45 −20 acados/ocp_qp/ocp_qp_hpmpc.h
  55. +33 −23 acados/ocp_qp/ocp_qp_partial_condensing.c
  56. +15 −12 acados/ocp_qp/ocp_qp_partial_condensing.h
  57. +322 −0 acados/ocp_qp/ocp_qp_partial_condensing_solver.c
  58. +15 −16 acados/ocp_qp/{ocp_qp_sparse_solver.h → ocp_qp_partial_condensing_solver.h}
  59. +93 −93 acados/ocp_qp/ocp_qp_qpdunes.c
  60. +9 −9 acados/ocp_qp/ocp_qp_qpdunes.h
  61. +0 −322 acados/ocp_qp/ocp_qp_sparse_solver.c
  62. +15 −13 acados/sim/sim_common.c
  63. +18 −10 acados/sim/sim_common.h
  64. +229 −66 acados/sim/sim_erk_integrator.c
  65. +15 −8 acados/sim/sim_erk_integrator.h
  66. +113 −58 acados/sim/sim_irk_integrator.c
  67. +10 −14 acados/sim/sim_irk_integrator.h
  68. +377 −305 acados/sim/sim_lifted_irk_integrator.c
  69. +10 −8 acados/sim/sim_lifted_irk_integrator.h
  70. +26 −19 acados/utils/external_function_generic.c
  71. +11 −2 acados/utils/external_function_generic.h
  72. +9 −10 acados/utils/mem.c
  73. +9 −9 acados/utils/mem.h
  74. +54 −28 acados/utils/print.c
  75. +2 −2 acados/utils/print.h
  76. +2 −2 acados/utils/strsep.h
  77. +11 −0 acados/utils/timing.c
  78. +8 −0 acados/utils/timing.h
  79. +1 −2 cmake/Platform/dSpace.cmake
  80. +1 −0 cmake/Toolchain-dSpace.cmake
  81. +5 −1 examples/CMakeLists.txt
  82. +188 −87 examples/c/CMakeLists.txt
  83. +122 −80 examples/c/Makefile
  84. 0 examples/c/{ → broken_examples}/chen_model/chen_model.c
  85. 0 examples/c/{ → broken_examples}/chen_model/chen_model.h
  86. +1 −1 examples/c/{ → broken_examples}/chen_nmpc_hpmpc.c
  87. 0 examples/c/{ → broken_examples}/chen_nmpc_qpoases.c
  88. +1 −1 examples/c/{ → broken_examples}/chen_sqp_hpmpc.c
  89. 0 examples/c/{ → broken_examples}/chen_sqp_qpoases.c
  90. +1 −1 examples/c/{ → broken_examples}/discrete_model.c
  91. +3 −3 examples/c/{ → broken_examples}/linear_mpc.c
  92. +1 −1 examples/c/{ → broken_examples}/mass_spring_partial_tightening.c
  93. 0 examples/c/{ → broken_examples}/nonlinear_chain_sqp.c
  94. +1 −1 examples/c/{ → broken_examples}/pendulum_hpmpc_libstr.c
  95. +1 −1 examples/c/{ → broken_examples}/pendulum_partial_tightening.c
  96. +73 −0 examples/c/chain_model/chain_model.h
  97. +73 −0 examples/c/chain_model/chain_model.h.in
  98. +56 −0 examples/c/chain_model/x0_nm10.c
  99. +8 −0 examples/c/chain_model/x0_nm2.c
  100. +14 −0 examples/c/chain_model/x0_nm3.c
  101. +20 −0 examples/c/chain_model/x0_nm4.c
  102. +26 −0 examples/c/chain_model/x0_nm5.c
  103. +32 −0 examples/c/chain_model/x0_nm6.c
  104. +38 −0 examples/c/chain_model/x0_nm7.c
  105. +44 −0 examples/c/chain_model/x0_nm8.c
  106. +50 −0 examples/c/chain_model/x0_nm9.c
  107. +56 −0 examples/c/chain_model/xN_nm10.c
  108. +8 −0 examples/c/chain_model/xN_nm2.c
  109. +14 −0 examples/c/chain_model/xN_nm3.c
  110. +20 −0 examples/c/chain_model/xN_nm4.c
  111. +26 −0 examples/c/chain_model/xN_nm5.c
  112. +32 −0 examples/c/chain_model/xN_nm6.c
  113. +38 −0 examples/c/chain_model/xN_nm7.c
  114. +44 −0 examples/c/chain_model/xN_nm8.c
  115. +50 −0 examples/c/chain_model/xN_nm9.c
  116. +16 −0 examples/c/crane_model/crane_model.h
  117. +69 −0 examples/c/dense_qp.c
  118. +152 −0 examples/c/implicit_chain_model/chain_model_impl.h
  119. +70 −324 examples/c/mass_spring_example.c
  120. +113 −32 examples/c/mass_spring_example_no_interface.c
  121. +73 −58 examples/c/{mass_spring_fcond_hpipm_split.c → mass_spring_fcond_split.c}
  122. +3 −3 examples/c/{mass_spring.c → mass_spring_model/mass_spring_qp.c}
  123. +112 −96 examples/c/mass_spring_offline_fcond_qpoases_split.c
  124. +0 −199 examples/c/mass_spring_pcond_hpipm_split.c
  125. +209 −0 examples/c/mass_spring_pcond_split.c
  126. +909 −519 examples/c/nonlinear_chain_ocp_nlp.c
  127. +952 −191 examples/c/nonlinear_chain_ocp_nlp_no_interface.c
  128. +32 −13 examples/c/ocp_qp.c
  129. +3 −0 examples/c/ocp_qp_lib_data/.gitignore
  130. +151 −0 examples/c/pendulum_model/jac_constraint.c
  131. +23 −0 examples/c/pendulum_model/jac_constraint.h
  132. +96 −105 examples/c/pendulum_model/jac_pendulum.c
  133. +23 −0 examples/c/pendulum_model/jac_pendulum.h
  134. +17 −7 examples/c/pendulum_model/pendulum.m
  135. +212 −0 examples/c/pendulum_model/vde_adj_pendulum.c
  136. +23 −0 examples/c/pendulum_model/vde_adj_pendulum.h
  137. +319 −330 examples/c/pendulum_model/vde_forw_pendulum.c
  138. +23 −0 examples/c/pendulum_model/vde_forw_pendulum.h
  139. +1,110 −0 examples/c/pendulum_model/vde_hess_pendulum.c
  140. +23 −0 examples/c/pendulum_model/vde_hess_pendulum.h
  141. +196 −0 examples/c/pendulum_scqp.cpp
  142. +419 −0 examples/c/sim_crane_example.c
  143. +53 −11 examples/c/sim_crane_no_interface.c
  144. +0 −536 examples/c/sim_erk_crane.c
  145. +0 −596 examples/c/sim_irk_crane.c
  146. +0 −543 examples/c/sim_lifted_irk_crane.c
  147. +418 −0 examples/c/sim_wt_model.c
  148. +469 −0 examples/c/sim_wt_model_no_interface.c
  149. +735 −0 examples/c/wt_model_nx3/impl_jacFun_u_energy_balanced_model.c
  150. +874 −0 examples/c/wt_model_nx3/impl_jacFun_x_energy_balanced_model.c
  151. +198 −0 examples/c/wt_model_nx3/impl_jacFun_xdot_energy_balanced_model.c
  152. +496 −0 examples/c/wt_model_nx3/impl_odeFun_energy_balanced_model.c
  153. +894 −0 examples/c/wt_model_nx3/jac_energy_balanced_model.c
  154. +180 −0 examples/c/wt_model_nx3/ls_costN_energy_balanced_model.c
  155. +190 −0 examples/c/wt_model_nx3/ls_cost_energy_balanced_model.c
  156. +488 −0 examples/c/wt_model_nx3/ode_energy_balanced_model.c
  157. +132 −0 examples/c/wt_model_nx3/pathconN_energy_balanced_model.c
  158. +136 −0 examples/c/wt_model_nx3/pathcon_energy_balanced_model.c
  159. +144 −0 examples/c/wt_model_nx3/pattern_jac_energy_balanced_model.c
  160. +778 −0 examples/c/wt_model_nx3/vde_adj_energy_balanced_model.c
  161. +2,014 −0 examples/c/wt_model_nx3/vde_energy_balanced_model.c
  162. +4,944 −0 examples/c/wt_model_nx3/vde_hess_energy_balanced_model.c
  163. +82 −0 examples/c/wt_model_nx3/wt_model.h
  164. +22 −18 examples/python/ocp_qp.py
  165. +1 −1 experimental/dimitris/main_ocp_qp.c
  166. +1 −1 experimental/dimitris/test_all_qp_solvers.c
  167. +1 −1 experimental/dimitris/test_chain_mod.cpp
  168. +2 −2 experimental/dimitris/test_qp.c
  169. +1 −1 experimental/dimitris/test_qpdunes.c
  170. +1 −4 external/CMakeLists.txt
  171. +1 −1 external/blasfeo
  172. +1 −1 external/hpipm
  173. +7 −12 interfaces/acados_c/CMakeLists.txt
  174. +6 −26 interfaces/acados_c/Makefile
  175. +0 −46 interfaces/acados_c/common.h
  176. +0 −13 interfaces/acados_c/dense_qp/CMakeLists.txt
  177. +0 −36 interfaces/acados_c/dense_qp/dense_qp_hpipm.h
  178. +0 −34 interfaces/acados_c/dense_qp/dense_qp_hpipm_i.c
  179. +0 −36 interfaces/acados_c/dense_qp/dense_qp_qore.h
  180. +0 −39 interfaces/acados_c/dense_qp/dense_qp_qore_i.c
  181. +0 −36 interfaces/acados_c/dense_qp/dense_qp_qpoases.h
  182. +0 −39 interfaces/acados_c/dense_qp/dense_qp_qpoases_i.c
  183. +0 −280 interfaces/acados_c/dense_qp_i.c
  184. +222 −0 interfaces/acados_c/dense_qp_interface.c
  185. +17 −28 interfaces/acados_c/{dense_qp.h → dense_qp_interface.h}
  186. +6 −7 interfaces/acados_c/{external_function_generic.c → external_function_interface.c}
  187. +7 −12 interfaces/acados_c/{external_function_generic.h → external_function_interface.h}
  188. +11 −14 interfaces/acados_c/legacy_create.h
  189. +81 −84 interfaces/acados_c/legacy_create_i.c
  190. +0 −85 interfaces/acados_c/ocp_nlp.h
  191. +0 −102 interfaces/acados_c/ocp_nlp_i.c
  192. +255 −0 interfaces/acados_c/ocp_nlp_interface.c
  193. +83 −0 interfaces/acados_c/ocp_nlp_interface.h
  194. +0 −14 interfaces/acados_c/ocp_qp/CMakeLists.txt
  195. +0 −36 interfaces/acados_c/ocp_qp/ocp_qp_full_condensing.h
  196. +0 −31 interfaces/acados_c/ocp_qp/ocp_qp_full_condensing_i.c
  197. +0 −36 interfaces/acados_c/ocp_qp/ocp_qp_full_condensing_solver.h
  198. +0 −41 interfaces/acados_c/ocp_qp/ocp_qp_full_condensing_solver_i.c
  199. +0 −36 interfaces/acados_c/ocp_qp/ocp_qp_hpipm.h
  200. +0 −34 interfaces/acados_c/ocp_qp/ocp_qp_hpipm_i.c
  201. +0 −36 interfaces/acados_c/ocp_qp/ocp_qp_hpmpc.h
  202. +0 −65 interfaces/acados_c/ocp_qp/ocp_qp_hpmpc_i.c
  203. +0 −36 interfaces/acados_c/ocp_qp/ocp_qp_partial_condensing.h
  204. +0 −35 interfaces/acados_c/ocp_qp/ocp_qp_partial_condensing_i.c
  205. +0 −36 interfaces/acados_c/ocp_qp/ocp_qp_qpdunes.h
  206. +0 −37 interfaces/acados_c/ocp_qp/ocp_qp_qpdunes_i.c
  207. +0 −36 interfaces/acados_c/ocp_qp/ocp_qp_sparse_solver.h
  208. +0 −38 interfaces/acados_c/ocp_qp/ocp_qp_sparse_solver_i.c
  209. +0 −388 interfaces/acados_c/ocp_qp_i.c
  210. +246 −0 interfaces/acados_c/ocp_qp_interface.c
  211. +12 −31 interfaces/acados_c/{ocp_qp.h → ocp_qp_interface.h}
  212. +73 −81 interfaces/acados_c/options_i.c
  213. +0 −6 interfaces/acados_c/sim/CMakeLists.txt
  214. +0 −36 interfaces/acados_c/sim/sim_erk_integrator.h
  215. +0 −51 interfaces/acados_c/sim/sim_erk_integrator_i.c
  216. +0 −52 interfaces/acados_c/sim/sim_irk_integrator.c
  217. +0 −37 interfaces/acados_c/sim/sim_irk_integrator.h
  218. +0 −36 interfaces/acados_c/sim/sim_lifted_irk_integrator.h
  219. +0 −60 interfaces/acados_c/sim/sim_lifted_irk_integrator_i.c
  220. +0 −273 interfaces/acados_c/sim_i.c
  221. +186 −0 interfaces/acados_c/sim_interface.c
  222. +15 −31 interfaces/acados_c/{sim.h → sim_interface.h}
  223. +17 −12 interfaces/acados_cpp/ocp_qp.cpp
  224. +8 −2 interfaces/acados_cpp/ocp_qp.hpp
  225. +1 −1 interfaces/acados_cpp/ocp_qp_dimensions.cpp
  226. +1 −1 interfaces/acados_cpp/ocp_qp_dimensions.hpp
  227. +7 −7 interfaces/acados_cpp/ocp_qp_solution.cpp
  228. +1 −0 interfaces/simulink/.gitignore
  229. +20 −0 interfaces/simulink/make_s_function.m
  230. BIN interfaces/simulink/ocp_qp.slx
  231. +135 −0 interfaces/simulink/ocp_qp_s_function.c
  232. +2 −2 swig/CMakeLists.txt
  233. +4 −4 swig/ocp_qp.i
  234. +2 −2 test/ocp_nlp/chain/test_chain.cpp
  235. +1 −1 test/ocp_qp/test_qpsolvers.cpp
  236. +1 −1 test/test_utils/read_ocp_qp_in.c
View
@@ -52,6 +52,19 @@ Thumbs.db
*.blg
*.synctex
# dSpace #
##########
*.map
*.sdf
*.ppc
*.trc
*.trz
*.tmw
*.hex
*.srec
*.mk
*.dsbuildinfo
# External #
############
*external/OOQP
@@ -86,3 +99,7 @@ cmakelint
*.srctrlprj
.vs
examples/python/__pycache__/
build*
*rti1401
*.asv
*.swo
View
@@ -5,7 +5,6 @@
[submodule "blasfeo"]
path = external/blasfeo
url = https://github.com/giaf/blasfeo.git
branch = stable
[submodule "qpdunes"]
path = external/qpdunes
url = https://github.com/acados/qpDUNES-dev.git
View
@@ -17,7 +17,11 @@
#
#
cmake_minimum_required(VERSION 3.0)
cmake_minimum_required(VERSION 3.1)
set(ACADOS_WITH_WERROR ON CACHE BOOL "acados with Werror")
set(ACADOS_WITH_C_INTERFACE ON CACHE BOOL "acados with c interface")
if(CMAKE_MAKE_PROGRAM)
file(TO_CMAKE_PATH ${CMAKE_MAKE_PROGRAM} CMAKE_MAKE_PROGRAM)
@@ -40,8 +44,15 @@ message(STATUS "Build type is ${CMAKE_BUILD_TYPE}")
enable_testing(true)
if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99 -Werror -Wall -fdiagnostics-show-option")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Werror -Wall -fdiagnostics-show-option")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99 -Wall -fdiagnostics-show-option")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -fdiagnostics-show-option")
elseif(CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} /MT")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /MT")
endif()
if (ACADOS_WITH_WERROR)
add_compile_options(-Werror)
endif()
message(STATUS "Installation directory is ${CMAKE_INSTALL_PREFIX}")
View
@@ -11,11 +11,19 @@ OBJS =
# ocp nlp
OBJS += acados/ocp_nlp/ocp_nlp_common.o
OBJS += acados/ocp_nlp/ocp_nlp_gn_sqp.o
OBJS += acados/ocp_nlp/ocp_nlp_cost_common.o
OBJS += acados/ocp_nlp/ocp_nlp_cost_ls.o
OBJS += acados/ocp_nlp/ocp_nlp_cost_nls.o
OBJS += acados/ocp_nlp/ocp_nlp_cost_external.o
OBJS += acados/ocp_nlp/ocp_nlp_constraints.o
OBJS += acados/ocp_nlp/ocp_nlp_dynamics.o
OBJS += acados/ocp_nlp/ocp_nlp_sqp.o
# dense qp
OBJS += acados/dense_qp/dense_qp_common.o
OBJS += acados/dense_qp/dense_qp_hpipm.o
ifeq ($(ACADOS_WITH_QPOASES), 1)
OBJS += acados/dense_qp/dense_qp_qpoases.o
endif
ifeq ($(ACADOS_WITH_QORE), 1)
OBJS += acados/dense_qp/dense_qp_qore.o
endif
@@ -31,7 +39,7 @@ OBJS += acados/ocp_qp/ocp_qp_qpdunes.o
endif
OBJS += acados/ocp_qp/ocp_qp_partial_condensing.o
OBJS += acados/ocp_qp/ocp_qp_full_condensing.o
OBJS += acados/ocp_qp/ocp_qp_sparse_solver.o
OBJS += acados/ocp_qp/ocp_qp_partial_condensing_solver.o
OBJS += acados/ocp_qp/ocp_qp_full_condensing_solver.o
# sim
OBJS += acados/sim/sim_collocation_utils.o
@@ -53,8 +61,12 @@ OBJS += acados/utils/external_function_generic.o
# acados dependencies
STATIC_DEPS = blasfeo_static hpipm_static qpoases_static
CLEAN_DEPS = blasfeo_clean hpipm_clean qpoases_clean
STATIC_DEPS = blasfeo_static hpipm_static
CLEAN_DEPS = blasfeo_clean hpipm_clean
ifeq ($(ACADOS_WITH_QPOASES), 1)
STATIC_DEPS += qpoases_static
CLEAN_DEPS += qpoases_clean
endif
ifeq ($(ACADOS_WITH_HPMPC), 1)
STATIC_DEPS += hpmpc_static
CLEAN_DEPS += hpmpc_clean
@@ -134,18 +146,8 @@ acados_c_static: acados_static
ifeq ($(ACADOS_WITH_C_INTERFACE), 1)
( cd interfaces/acados_c; $(MAKE) static_library CC=$(CC) TOP=$(TOP) )
mkdir -p include/acados_c
mkdir -p include/acados_c/dense_qp
# mkdir -p include/acados_c/ocp_lin
# mkdir -p include/acados_c/ocp_nlp
mkdir -p include/acados_c/ocp_qp
mkdir -p include/acados_c/sim
mkdir -p lib
cp -r interfaces/acados_c/*.h include/acados_c
cp -r interfaces/acados_c/dense_qp/*.h include/acados_c/dense_qp
# cp -r interfaces/acados_c/ocp_lin/*.h include/acados_c/ocp_lin
# cp -r interfaces/acados_c/ocp_nlp/*.h include/acados_c/ocp_nlp
cp -r interfaces/acados_c/ocp_qp/*.h include/acados_c/ocp_qp
cp -r interfaces/acados_c/sim/*.h include/acados_c/sim
mv interfaces/acados_c/libacados_c.a lib
endif
View
@@ -23,7 +23,7 @@ TOP = $(shell pwd)
# External projects directory
EXT_PATH = $(TOP)/external
# BLASFEO path
## BLASFEO path
BLASFEO_PATH = $(EXT_PATH)/blasfeo
# BLASFEO version
# BLASFEO_VERSION = HIGH_PERFORMANCE
@@ -34,17 +34,17 @@ BLASFEO_TARGET = X64_INTEL_SANDY_BRIDGE
# BLASFEO_TARGET = X64_INTEL_CORE
# BLASFEO_TARGET = GENERIC
# HPIPM path
## HPIPM path
HPIPM_PATH = $(EXT_PATH)/hpipm
# HPIPM target
## HPIPM target
HPIPM_TARGET = GENERIC
# HPMPC path
## HPMPC path
HPMPC_PATH = $(EXT_PATH)/hpmpc
# HPMPC target
## HPMPC target
HPMPC_TARGET = X64_AVX
# qpOASES path
## qpOASES path
QPOASES_PATH = $(EXT_PATH)/qpoases
# QORE path
@@ -53,6 +53,9 @@ QORE_PATH = $(EXT_PATH)/qore
# QPDUNES path
QPDUNES_PATH = $(EXT_PATH)/qpdunes
# include HPMPC
ACADOS_WITH_QPOASES = 0
# include HPMPC
ACADOS_WITH_HPMPC = 0
@@ -63,7 +66,7 @@ ACADOS_WITH_QPDUNES = 0
ACADOS_WITH_QORE = 0
# C interface
ACADOS_WITH_C_INTERFACE = 0
ACADOS_WITH_C_INTERFACE = 1
# measure timings
MEASURE_TIMINGS = 1
@@ -73,11 +76,14 @@ MEASURE_TIMINGS = 1
CFLAGS =
# optimization flags
#CFLAGS += -O2 -fPIC
CFLAGS += -O2 -fPIC
# debugging flags
CFLAGS += #-g -Wall -pedantic -Wfloat-equal #-pg
ifeq ($(ACADOS_WITH_QPOASES), 1)
CFLAGS += -DACADOS_WITH_QPOASES
endif
ifeq ($(ACADOS_WITH_HPMPC), 1)
CFLAGS += -DACADOS_WITH_HPMPC
endif
View
@@ -35,9 +35,9 @@ if(NOT ACADOS_WITH_HPMPC)
list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/ocp_qp/ocp_qp_hpmpc.c")
endif()
if(NOT ACADOS_WITH_OOQP)
list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/ocp_qp/ocp_qp_ooqp.c")
endif()
# if(NOT ACADOS_WITH_OOQP)
# list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/ocp_qp/ocp_qp_ooqp.c")
# endif()
if(NOT ACADOS_WITH_QORE)
list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/dense_qp/dense_qp_qore.c")
@@ -52,9 +52,9 @@ if(NOT ACADOS_WITH_QPDUNES)
endif()
list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/sim/sim_discrete_model.c")
list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/ocp_qp/ocp_qp_ooqp.c")
list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/ocp_nlp/ocp_nlp_sm_gn.c")
list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/ocp_nlp/ocp_nlp_sqp.c")
list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/broken_src/ocp_nlp_sm_gn.c")
list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/broken_src/ocp_nlp_sqp_bkp.c")
list(REMOVE_ITEM ACADOS_SRC "${PROJECT_SOURCE_DIR}/acados/broken_src/ocp_qp_ooqp.c")
# Define acados library
add_library(acados ${ACADOS_SRC})
@@ -119,7 +119,7 @@ if(ACADOS_WITH_OOQP)
endif()
# Enable or disable timings
if(NOT CMAKE_BUILD_TYPE MATCHES "Debug" AND NOT CMAKE_SYSTEM_NAME MATCHES "dSpace")
if(NOT CMAKE_BUILD_TYPE MATCHES "Debug")
target_compile_definitions(acados PUBLIC MEASURE_TIMINGS)
endif()
@@ -130,9 +130,11 @@ if(SWIG_MATLAB)
target_link_libraries(acados PUBLIC ${Matlab_MEX_LIBRARY})
endif()
add_subdirectory(../interfaces/acados_c acados/interfaces/acados_c)
if(NOT CMAKE_SYSTEM_NAME MATCHES "dSpace")
add_subdirectory(../interfaces/acados_cpp acados/interfaces/acados_cpp)
if(ACADOS_WITH_C_INTERFACE)
add_subdirectory(../interfaces/acados_c acados/interfaces/acados_c)
if(NOT CMAKE_SYSTEM_NAME MATCHES "dSpace")
add_subdirectory(../interfaces/acados_cpp acados/interfaces/acados_cpp)
endif()
endif()
# Only test acados library for coverage
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