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Merge branch 'master' of https://github.com/acados/acados

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giaf committed Jun 11, 2019
2 parents 16402de + 84feb83 commit aa2ef01944539e920f6c893590b45cf84b2249c0
Showing with 819 additions and 306 deletions.
  1. +2 −2 .appveyor.yml
  2. +1 −0 .gitignore
  3. +15 −6 .travis.yml
  4. +0 −19 CMakeConfig.txt
  5. +145 −57 CMakeLists.txt
  6. +47 −27 Makefile
  7. +18 −1 Makefile.rule
  8. +14 −27 acados/CMakeLists.txt
  9. +4 −4 acados/ocp_nlp/ocp_nlp_common.c
  10. +25 −1 acados/ocp_nlp/ocp_nlp_constraints_bgh.c
  11. +17 −1 acados/ocp_nlp/ocp_nlp_constraints_bghp.c
  12. +1 −1 acados/ocp_nlp/ocp_nlp_constraints_common.h
  13. +1 −0 acados/ocp_nlp/ocp_nlp_cost_common.h
  14. +9 −0 acados/ocp_nlp/ocp_nlp_cost_external.c
  15. +2 −0 acados/ocp_nlp/ocp_nlp_cost_external.h
  16. +22 −0 acados/ocp_nlp/ocp_nlp_cost_ls.c
  17. +2 −0 acados/ocp_nlp/ocp_nlp_cost_ls.h
  18. +25 −0 acados/ocp_nlp/ocp_nlp_cost_nls.c
  19. +2 −0 acados/ocp_nlp/ocp_nlp_cost_nls.h
  20. +34 −5 ci/linux/dispatch.sh
  21. +3 −0 ci/linux/install_python.sh
  22. +1 −3 ci/linux/install_python_dependencies.sh
  23. +38 −4 ci/osx/dispatch.sh
  24. +1 −2 ci/shared/install_matlab.sh
  25. +21 −14 ci/shared/script_acados_release.sh
  26. +12 −11 cmake/Lint.cmake
  27. +3 −2 cmake/acadosConfig.cmake.in
  28. +7 −0 docs/installation/index.md
  29. +5 −8 docs/interfaces/index.md
  30. +1 −7 examples/c/Makefile
  31. +14 −8 external/CMakeLists.txt
  32. +2 −0 interfaces/acados_c/Makefile
  33. +26 −3 interfaces/acados_c/ocp_nlp_interface.c
  34. +1 −1 interfaces/acados_c/ocp_nlp_interface.h
  35. +4 −4 interfaces/acados_matlab/ocp_compile_mex.m
  36. +2 −2 interfaces/acados_matlab/ocp_compile_mex_model_dep.m
  37. +2 −2 interfaces/acados_matlab/sim_compile_mex.m
  38. +2 −2 interfaces/acados_matlab/sim_compile_mex_model_dep.m
  39. +47 −24 interfaces/acados_template/acados_template/acados_ocp_nlp.py
  40. +3 −3 interfaces/acados_template/acados_template/c_templates/acados_solver.in.c
  41. +11 −9 interfaces/acados_template/acados_template/c_templates/acados_solver_sfun.in.c
  42. +25 −7 interfaces/acados_template/acados_template/generate_solver.py
  43. +4 −5 interfaces/acados_template/examples/python/pendulum_example/generate_c_code.py
  44. +142 −0 interfaces/acados_template/examples/python/pendulum_example/generate_c_code_explicit_setters.py
  45. +1 −1 interfaces/acados_template/examples/python/rel_sync_machine_example/generate_c_code.py
  46. +10 −6 test/ocp_nlp/test_chain.cpp
  47. +14 −7 test/ocp_nlp/test_wind_turbine.cpp
  48. +31 −20 test/ocp_qp/test_qpsolvers.cpp
@@ -9,13 +9,13 @@ install:
build_script:
- git submodule update --init --recursive
- cmake -E make_directory build
- cmake -E chdir build cmake ..
- cmake -E chdir build cmake -D BLASFEO_TARGET=GENERIC -D HPIPM_TARGET=GENERIC ..
- cmake --build build --config Debug
- cmake -E chdir build ctest --output-on-failure
- cmake --build build --config Release
- cmake -E chdir build ctest --output-on-failure
- rm -fr build
- cmake -E make_directory build
- cmake -E make_directory appveyor-artifacts
- cmake -E chdir build cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=%APPVEYOR_BUILD_FOLDER%\appveyor-artifacts ..
- cmake -E chdir build cmake -D BLASFEO_TARGET=GENERIC -D HPIPM_TARGET=GENERIC -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=%APPVEYOR_BUILD_FOLDER%\appveyor-artifacts ..
- cmake --build build --target install
@@ -91,6 +91,7 @@ build/
include/
lib/
local/
*.local
*.dat
octave-workspace
.vscode
@@ -1,9 +1,19 @@
language: c
env:
global:
- BLASFEO_TARGET=X64_INTEL_HASWELL
- HPIPM_TARGET=AVX
- CASADIPATH="${HOME}/casadi"
- ACADOS_INSTALL_DIR="${HOME}/acados"
- DEPLOY_FOLDER="${HOME}/deploy"
- ACADOS_UNIT_TESTS='ON'
- ACADOS_WITH_QPOASES='ON';
- ACADOS_LINT="OFF"
- SWIG_MATLAB="OFF"
- SWIG_PYTHON="OFF"
- TEMPLATE_PYTHON="OFF"
- TEMPLATE_MATLAB="OFF"
- DEV_MATLAB="OFF"
- secure: "YNhdXD3zhKsQeLVXHiZ3U6S1ERm+AHeUd7402ZHkxoIEefgVyvSy41XIPlgl5FKHq9PW8ecVktteFJldv7DLdXyK3mmKiyFmQWbtJabC4CGhXZ8eGWq95Hak1yW+t3qxmXRD/XDI7baPXryKopyX5epRFnpp2pB5Dmi1JVkJRXhhDtwsOAbolhdWrQ8SGq1wxejzjQa5XqKIDknZy6DTTUmZZYalmY8G3ETBEj2wamOiny6D2xQZQi1hOaRCTPLzSfvZIn3k9oT1kZ3gnI9e/Scg36EMIRlpkt0jUyNSB0IUv/RZdNFFAmn2xHr/sxAGtuyzYK9D4pZI0mc7WvXV3DpEyjbDCGA4RWhblOYFEfcDkqsTBQZ53zLCsx3MGcw2VOZ07FKtrI6JC2Z400UTFXDglpsc8e2MNZOUctkjUoMCn4GpbyZoY5csaUQrvylldZv7F/pYjoSHqcRI6ytq0kVhrXn4A7oYeQcIqdhvq9lf5vtmP68PUp/bBTXZkiHAhf5fMBTAMs9f/VRJ++JH2yu3zOM8VXa40xWSmszFeHlXx4xQrPrI5o7qGBxYGU0GdvJNYDsqAfqKc1bXl2ULQw3UHX2K7XPjUD2/n/W2JCVnTsX3xfEFoHFP4/pxH4G3l7rb82D803SQ3U7++2RATj02ZN4LBdTq9nnqjksC224="
- secure: "W8Z9V5SCq19cis+UpX3XPv8BPXpZeQmsDVzkGRdbAS3rd5rkBBIGHFJxEZLtoZtcbEFZkjBEZVZWlelUXwuDWDUyXfsE0HgidGfyLtHh+a86KsjNbmkG7tCAJkVWET0DKttVkzlDrNjqextrEIVCN1NsFC6xuCu1n9ZL9W6wPBB8o0P8Sa7Lu/pO2rm2nEP7dJG4bN18PxxXx/iK7zaEHiu9mVVQ9CXExa9E0Sy0uYdV0cAetb8Th+jJqCEtvi0gXEdhmqhecDPVLaP67Mkc32MTE4tDCyGXeJW/8B5ia8QwuKAFRhTufSgJfIULfe652abRWm26HgmWNr93/GU9MkmPdveBRLUNft74UrnLksnGVk3o5XBczK606dCJI5aejheyHIjNMED/z1NgYfdTtKy83hQxIbsbGg0/plrtGzAS0limsO0i8lIzYDiR/enikioRKZdhBe6m4lJhyObxTXps8tDG2yNtbk/sV9LUyNrk8w9JIdb/YEuDysHi4LrukZmRxazYhhPoISBHzEvxpBsnIPuvMmQqZFuxGQNc1Sms9qMCvbSBGDQzkSq5RQ0ICDgkD7ecm78cs7JPV87lZgZrYjLGjs0cS31ELgVS++VY1gBIzW1TJVn8qC/rLOHgHuOlrI40IntxJaQ/gdkPljxIHg4H+znh4y4/YzkfXOQ="

@@ -20,27 +30,26 @@ addons:

matrix:
include:
- name: MacOS Python Interface Build
- name: MacOS Build
os: osx
osx_image: xcode9.4
# osx_image: xcode10.1
env:
- DEPLOY_NAME="osx-python"
- name: Linux Python Interface Gcc6
- name: Linux Gcc6
env:
- DEPLOY_NAME="linux-python-gcc6"
- MATRIX_EVAL="CC=gcc-6 && CXX=g++-6"
- name: Linux Python Interface Gcc5
- name: Linux Gcc5
env:
- DEPLOY_NAME="linux-python-gcc5"
- MATRIX_EVAL="CC=gcc-5 && CXX=g++-5"
- name: Linux Python Interface Gcc4.9 and Matlab
- name: Linux Gcc4.9
env:
- DEPLOY_NAME="linux-python-matlab-gcc49"
- MATRIX_EVAL="CC=gcc-4.9 && CXX=g++-4.9"
- WITH_MATLAB="YES"
- COVERAGE="lcov"
- name: Linux Python Interface Clang
- name: Linux Clang
env:
- DEPLOY_NAME="linux-python-clang37"
- MATRIX_EVAL="CC=clang-3.7 && CXX=clang++-3.7"

This file was deleted.

@@ -1,119 +1,207 @@
#
# This file is part of acados.
# This file is part of acados.
#
# acados is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 3 of the License, or (at your option) any later version.
# acados is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 3 of the License, or (at your option) any later version.
#
# acados is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# Lesser General Public License for more details.
# acados is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public
# License along with acados; if not, write to the Free Software Foundation,
# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
# You should have received a copy of the GNU Lesser General Public
# License along with acados; if not, write to the Free Software Foundation,
# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
#
#

cmake_minimum_required(VERSION 3.1)

if(CMAKE_MAKE_PROGRAM)
file(TO_CMAKE_PATH ${CMAKE_MAKE_PROGRAM} CMAKE_MAKE_PROGRAM)
find_program(CMAKE_MAKE_PROGRAM ${CMAKE_MAKE_PROGRAM})
file(TO_CMAKE_PATH ${CMAKE_MAKE_PROGRAM} CMAKE_MAKE_PROGRAM)
find_program(CMAKE_MAKE_PROGRAM ${CMAKE_MAKE_PROGRAM})
endif()

project(acados LANGUAGES C CXX)

list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")

set(CMAKE_POSITION_INDEPENDENT_CODE TRUE)

### Defaults

set(ACADOS_INSTALL_DIR "/usr/local" CACHE STRING "Installation path to /usr/local")
set(BLASFEO_TARGET "X64_INTEL_HASWELL" CACHE STRING "BLASFEO Target architecture")
set(HPIPM_TARGET "AVX" CACHE STRING "HPIPM Target architecture")
set(LA "HIGH_PERFORMANCE" CACHE STRING "Linear algebra optimization level")

# Additional targets
option(ACADOS_UNIT_TESTS "Compile Unit tests" OFF)
option(ACADOS_EXAMPLES "Compile Examples" OFF)
option(ACADOS_LINT "Compile Lint" OFF)
# Extarnal libs
option(ACADOS_WITH_QPOASES "qpOASES solver" OFF)
option(ACADOS_WITH_HPMPC "HPMPC solver" OFF)
option(ACADOS_WITH_QORE "QORE solver" OFF)
option(ACADOS_WITH_OOQP "OOQP solver" OFF)
option(ACADOS_WITH_QPDUNES "qpDUNES solver" OFF)
option(ACADOS_WITH_OSQP "OSQP solver" OFF)
# Interfaces
option(SWIG_MATLAB "Swig Matlab Interface" OFF)
option(SWIG_PYTHON "Swig Python Interface" OFF)
option(TEMPLATE_MATLAB "Template Matlab Interface" OFF)
option(TEMPLATE_PYTHON "Template Python Interface" OFF)
option(DEV_MATLAB "Developer Matlab Interface" OFF)

# Set custom path
set(CMAKE_INSTALL_PREFIX ${ACADOS_INSTALL_DIR})
set(EXTERNAL_SRC_DIR ${PROJECT_SOURCE_DIR}/external)
set(BLASFEO_SRC_DIR ${PROJECT_SOURCE_DIR}/external/blasfeo)

# Set up build type
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release
CACHE STRING "Valid build types are: \
Release (default), None, Debug, NoExternalLibs, RelWithDebInfo, MinSizeRel." FORCE)
set(CMAKE_BUILD_TYPE Release
CACHE STRING "Valid build types are: \
Release (default), None, Debug, WithExternalLibs, RelWithDebInfo, MinSizeRel." FORCE)
endif()
### Defaults

message(STATUS "Build type is ${CMAKE_BUILD_TYPE}")

enable_testing(true)

if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND NOT CMAKE_SYSTEM_NAME MATCHES "Windows")
add_definitions(-D _GLIBCXX_USE_CXX11_ABI=0) # Needed for CasADi compatibility
add_definitions(-D _GLIBCXX_USE_CXX11_ABI=0) # Needed for CasADi compatibility
endif()

if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND CMAKE_SYSTEM_NAME MATCHES "Windows")
# MinGW, change to .lib such that mex recognizes it
set(CMAKE_STATIC_LIBRARY_SUFFIX ".lib")
# MinGW, change to .lib such that mex recognizes it
set(CMAKE_STATIC_LIBRARY_SUFFIX ".lib")
endif()

if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99 -Wall -fdiagnostics-show-option")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -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++11 -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")
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} /MT")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /MT")
endif()

message(STATUS "Installation directory is ${CMAKE_INSTALL_PREFIX}")

# Rpath handling, see https://cmake.org/Wiki/CMake_RPATH_handling#What_is_RPATH_.3F
set(CMAKE_SKIP_BUILD_RPATH FALSE)
set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
set(CMAKE_INSTALL_RPATH "$ENV{CASADIPATH}/casadi")

if(NOT CMAKE_C_COMPILER_ID MATCHES "MSVC")
set(ACADOS_WITH_HPMPC ON CACHE BOOL "Add HPMPC solver")
if(CMAKE_BUILD_TYPE MATCHES WithExternalLibs)
set(ACADOS_WITH_HPMPC ON CACHE BOOL "Add HPMPC solver")
set(ACADOS_WITH_QORE ON CACHE BOOL "Add QORE solver")
set(ACADOS_WITH_OOQP ON CACHE BOOL "Add OOQP solver")
set(ACADOS_WITH_QPOASES ON CACHE BOOL "Add qpOASES solver")
set(ACADOS_WITH_QPDUNES ON CACHE BOOL "Add qpDUNES solver")
set(ACADOS_WITH_OSQP ON CACHE BOOL "Add OSQP solver")
endif()

if(EXISTS ${PROJECT_SOURCE_DIR}/external/OOQP AND NOT CMAKE_BUILD_TYPE MATCHES NoExternalLibs AND NOT CMAKE_SYSTEM_NAME MATCHES "dSpace")
set(ACADOS_WITH_OOQP ON CACHE BOOL "Add OOQP solver")
## External lib checks (

if(ACADOS_WITH_HPMPC MATCHES ON AND CMAKE_C_COMPILER_ID MATCHES "MSVC")
set(ACADOS_WITH_HPMPC OFF CACHE BOOL "HPMPC solver" FORCE)
message(WARNING "HPMPC has been disabled, not compatible with ${CMAKE_C_COMPILER_ID}")
endif()

if(EXISTS ${PROJECT_SOURCE_DIR}/external/qore AND NOT CMAKE_BUILD_TYPE MATCHES NoExternalLibs AND NOT CMAKE_SYSTEM_NAME MATCHES "dSpace" AND NOT CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
set(ACADOS_WITH_QORE ON CACHE BOOL "Add QORE solver")
if(ACADOS_WITH_OOQP MATCHES ON)

if(CMAKE_SYSTEM_NAME MATCHES "dSpace")
set(ACADOS_WITH_OOQP OFF CACHE BOOL "Add OOQP solver" FORCE)
message(WARNING "OOQP is not compatible with dSpace, OOQP is disabled")

elseif(NOT EXISTS ${PROJECT_SOURCE_DIR}/external/OOQP)
set(ACADOS_WITH_OOQP OFF CACHE BOOL "Add OOQP solver" FORCE)
message(WARNING "OOQP folder not found, OOQP has been disabled")

endif()
endif()

if(NOT CMAKE_SYSTEM_NAME MATCHES "dSpace")
set(ACADOS_WITH_QPOASES ON CACHE BOOL "Add qpOASES solver")
set(ACADOS_WITH_QPDUNES ON CACHE BOOL "Add qpDUNES solver")
set(ACADOS_WITH_OSQP ON CACHE BOOL "Add OSQP solver")
if(ACADOS_WITH_QORE MATCHES ON)

if(CMAKE_SYSTEM_NAME MATCHES "dSpace" OR CMAKE_CXX_COMPILER_ID MATCHES "MSVC")
set(ACADOS_WITH_QORE OFF CACHE BOOL "Add QORE solver" FORCE)
message(WARNING "QORE is not compatible with MSVC or dSpace, QORE is has been disabled")

elseif(NOT EXISTS ${PROJECT_SOURCE_DIR}/external/qore)
set(ACADOS_WITH_QORE OFF CACHE BOOL "Add QORE solver" FORCE)
message(WARNING "QORE folder not found, QORE has been disabled")

endif()
endif()

set(EXTERNAL_SRC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/external)
if(SWIG_MATLAB OR SWIG_PYTHON)
if(CMAKE_SYSTEM_NAME MATCHES "dSpace")
set(SWIG_MATLAB OFF CACHE BOOL "Swig Matlab Interface" FORCE)
set(SWIG_PYTHON OFF CACHE BOOL "Swig Python Interface" FORCE)
message(WARNING "Swig has been disabled, not compatible with dSpace system")
endif()
if(CMAKE_BUILD_TYPE MATCHES NoExternalLibs)
set(SWIG_MATLAB OFF CACHE BOOL "Swig Matlab Interface" FORCE)
set(SWIG_PYTHON OFF CACHE BOOL "Swig Python Interface" FORCE)
message(WARNING "Swig has been disabled, not compatible with NoExternalLibs target")
endif()
endif()

if(ACADOS_LINT)
if(CMAKE_SYSTEM_NAME MATCHES "Windows" OR CMAKE_SYSTEM_NAME MATCHES "dSpace")
set(ACADOS_LINT OFF CACHE BOOL "Lint" FORCE)
message(WARNING "Lint has been disabled, not compatible with ${CMAKE_SYSTEM_NAME}")
endif()
endif()

### ) External lib checks

# Configure acados
add_subdirectory(acados)

# Configure interfaces
add_subdirectory(${PROJECT_SOURCE_DIR}/interfaces/acados_c)

if((SWIG_PYTHON OR SWIG_MATLAB))
add_subdirectory(${PROJECT_SOURCE_DIR}/interfaces/acados_cpp)
add_subdirectory(${PROJECT_SOURCE_DIR}/swig)
endif()

# Configure external libraries
add_subdirectory(${EXTERNAL_SRC_DIR})

# Add examples
if(NOT CMAKE_SYSTEM_NAME MATCHES "dSpace")
add_subdirectory(examples)
# Configure examples
if(ACADOS_EXAMPLES)
add_subdirectory(examples)
endif()

# Configure SWIG interface
if(NOT CMAKE_BUILD_TYPE MATCHES NoExternalLibs)
if(SWIG_MATLAB OR SWIG_PYTHON)
add_subdirectory(swig)
endif()
# Configure tests
if(ACADOS_UNIT_TESTS)
add_subdirectory(test)
endif()

# Generate test data and configure unit tests
if(UNIT_TESTS)
add_subdirectory(test)
# Configure lint
if(ACADOS_LINT)
include(Lint)
else()
add_custom_target(lint echo "Lint is disabled")
endif()

# Uninstallation
# Configure Uninstall
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
add_custom_target(acados_uninstall # NOTE(dimitris): uninstall name clashes with submodules
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake")

# Cpplint
include(Lint)
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
add_custom_target(uninstall
# NOTE(dimitris): uninstall name clashes with submodules
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake")

# Current config messages
message(STATUS "Target: BLASFEO is ${BLASFEO_TARGET}, HPIPM is ${HPIPM_TARGET}")
message(STATUS "Linear algebra: ${LA}")
message(STATUS "Swig: Python (${SWIG_PYTHON}) Matlab (${SWIG_MATLAB})")
message(STATUS "System name:version ${CMAKE_SYSTEM_NAME}:${CMAKE_SYSTEM_VERSION}")
message(STATUS "Build type is ${CMAKE_BUILD_TYPE}")
message(STATUS "Installation directory is ${CMAKE_INSTALL_PREFIX}")

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