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rfranke
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,328 @@ | ||
| 02/26/01: rf: change version to 1.7b1 | ||
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| 02/26/01: rf | ||
| - omu/Hqp_Omuses.[hC], omu/Omu_Program.[hC]: | ||
| move _ks and _ts from Hqp_Omuses to Omu_Program | ||
| - omu/Omu_Program: new public method setup_stages() without | ||
| call arguments to be called by Hqp_Omuses; | ||
| - omu/Omu_Program: new public methods ts() and ks() | ||
| for accessing _ts and _ks | ||
|
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||
| 02/15/01: rf | ||
| - hqp/hqp_solve.tcl: introduce hqp_logging to optionally | ||
| disable log output | ||
|
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| 02/07/01: rf | ||
| - add omu/Omu_IntEuler.[hC], extend omu/Makefile, omu/Omu_Init.C | ||
| - omu/Omu_IntRK4.C: add support for Omu_Integrator::_stepsize | ||
|
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| 01/27/01: rf | ||
| - hqp/Hqp_Init.C: disable Meschach's error counting & exit | ||
| (call count_errs(0) in Hqp_Init()) | ||
|
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| 01/27/01: rf | ||
| - omu/Omu_Integrator: introduce _stepsize (prg_int_stepsize) | ||
| - omu/Omu_IntDASPK, omu/Omu_IntIMP: implement support for _stepsize | ||
| - Makefile, Makefile.hqp: replace "make" with $(MAKE) | ||
| (as proposed by Christian Schulz) | ||
|
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||
| 12/05/00: rf: resolve meschach/err.h, catch conflict | ||
| - configure.in: change version to 1.7a5 | ||
| - rename meschach/err.h to meschach/m_err.h | ||
| - m_err.h: rename macro catch to m_catch | ||
| - adapt meschach/{matrix.h, err.c, torture.c, ztorture.c, makefile, | ||
| version.c} | ||
| - hqp/Meschach.h: don't need to redefine catch anymore | ||
| - hqp/Hqp_IpsMehrotra.C, hqp/HqpIpsFranke.C: use m_catch | ||
|
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| 12/03/00: rf | ||
| - configure.in: change version to 1.7a4 | ||
| - iftcl/If.[hC], hqp_docp/Docp_Main.C: change name "Float" to "Real" | ||
| - iftcl: add If_Real.h, If_RealVec.h, If_RealMat.h | ||
| (should be used instead of If_Float* includes and types) | ||
|
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| 12/01/00: rf | ||
| - configure.in: change version to 1.7a3 | ||
|
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| 12/01/00: rf | ||
| - moved PERMP from hqp/t_mesch.h to hqp/Meschach.h | ||
| - configure.in: remove check for HUGE_VAL | ||
| (as this was a temporary problem of intermediate Cygwin 1.1) | ||
|
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| 11/29/00: rf: remove newly defined types from Hqp_Docp C calling interface | ||
| (use same types as in Hqp implementation, i.e. Real, VECP, ... | ||
| instead of Float, FloatVec, ... | ||
| reserve the new names for a possible future component interface) | ||
| - remove iftcl/If_types.h | ||
| - modify iftcl/If.[hC], hqp/Hqp.[hC], omu/Hqp_Docp_stub.[hC], | ||
| hqp_docp/Docp_Main.C, hqp_docp/Prg_Di.[hC] | ||
|
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| 11/25/00: rf | ||
| - hqp/sprcm.C: bug fix in function sp_rcm_scan | ||
| - hqp/Hqp_Docp.C: modified problem setup for correct hot start | ||
| - hqp_docp/Prg_Di.C, hqp_docp/Docp_Main.C: new theHqp_Docp_handle | ||
| - hqp/Hqp.[hC] corrections for new data types | ||
|
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| 11/23/00: rf: improved error handling | ||
| - hqp/Meschach.h: introduce macro "catcherr" using Meschach's catch | ||
| - hqp/Hqp_IpsFranke.C, hqp/Hqp_IpsMehrotra.C: use catcherr | ||
| to detect degeneration, instead of direct access to setjmp() | ||
| - omu/Hqp_Omuses.C: apply Meschach's "catchall" to integrator->solve, | ||
| so that integration errors result in SQP step shortening | ||
|
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| 11/22/00: rf | ||
| - omu/Omu_Init.C, omu/Makefile: add Omu_IntSDIRK | ||
| (provided by H. Linke) | ||
| - hqp/Hqp_Docp.C: break updating stages when _f becomes infinite | ||
|
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| 11/20/00: rf | ||
| - omu/Hqp_Omuses.[hC]: implemet setup_struct() and call | ||
| obtain_structure from there (instead from setup_vars) | ||
| - hqp/Hqp_Docp.C: call setup_horizon() from general setup() | ||
| (instead from setup_x) | ||
|
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| 11/15/00: rf | ||
| - hqp/Hqp_SqpSolver::feasible_vals: | ||
| introduce check for is_finite(_prg->f()) | ||
| - iftcl/If.[hC]: introduce If_SizeOfInt() and If_SizeOfFloat() | ||
| (as proposed by Christian Schulz) | ||
|
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| 11/09/00: rf: introduced C calling interface to iftcl | ||
| - change version to 1.7a2 | ||
| - mv iftcl/If.h to iftcl/If_id.h | ||
| - new file iftcl/If.h for public declarations, | ||
| iftcl/If.C for implementation, iftcl/If_types.h for types | ||
| - Hqp.C: Hqp_Docp_create initializes Tcl internally, | ||
| if this has not been done by calling program | ||
| - ./configure.in: slight modification for building a DLL | ||
| - hqp_docp: demo new features in Docp_Main.C | ||
|
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| 11/07/00: rf: improved generation of Hqp shared object | ||
| - change version to 1.7a1 | ||
| - Hqp.[hC]: provide new Hqp Docp interface | ||
| that hides implementation details | ||
| (i.e. no C++ inheritance from implementation in hqp/Hqp_Docp) | ||
| - adapt hqp_docp to demonstrate new interface | ||
| - new file hqp/Hqp_Docp_wrapper.h to connect interface to Hqp_Docp | ||
| - new files omu/Hqp_Docp_stub.[hC] to mimic Hqp_Docp for Omuses | ||
| - omu/Hqp_Omuses is now derived from omu/Hqp_Docp_stub | ||
| - extensions to configure.in for generation of hqp.dll using cl | ||
|
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| 11/03/00: rf: add support for cl compiler | ||
| - hqp/Hqp_IpSpSC.C: correct prototype for spCHOLsol() | ||
| - hqp/meschext_ea.h: remove argument lists after #undef's | ||
| - new file makedirs (former directories part of makedefs) | ||
| that is also included by hqp_docp/Makefile and odc/Makefile | ||
| (as automatically configured paths need to be customized for cl) | ||
| - extensions in configure.in, makedefs.in, and Makefiles | ||
| - hqp/Meschach.h: additionally include math.h before matrix.h for cl | ||
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| 11/03/00: rf: | ||
| - hqp/Meschach.h: add std C++ methods "size" to VECP, MATP and IVECP | ||
| - separate hqp/Hqp.h into hqp/Hqp.h (external visible declarations) | ||
| and hqp/Hqp_impl.h (further declarations for HQP implementation) | ||
| - former Hqp.C becomes Hqp_impl.C | ||
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| 11/01/00: rf: | ||
| - bug fix in meschach/hessen.c after call to hhvec in hsehldr.c | ||
| to avoid infinite loop in symmeig() | ||
| - hqp/Hqp_HL_BFGS.C: change default _eigen_control to true | ||
| - omu/Omu_IntDASPK.C (realloc): more sensible allocation of memory | ||
| when using direct solver | ||
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| 08/02/00: rf: | ||
| - change version to 1.6.1 | ||
| - omu/Omu_IntDASPK.C: add _nsteps (prg_int_nsteps) for | ||
| user-defined number of integrator steps | ||
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| 06/06/00: release HQP 1.6 | ||
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| 06/05/00: rf: | ||
| - omu/Omu_IntDASPK.C changed defaults for _krylov_prec | ||
| to false; | ||
| changed _krylov and staggert mode back to their original | ||
| values, false and true, respectively!? | ||
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| 05/30/00: ea: | ||
| - omu/Omu_IntIMP.[hC] added | ||
| implicit midpoint rule for stiff ODEs | ||
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| 05/22/00: rf: | ||
| - omu/Omu_Init.C: correct include Omu_IntOdeTS.h to Omu_IntOdeTs.h | ||
| as reported by H. Mittelmann | ||
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| 05/18/00: release HQP 1.6b2 | ||
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| 05/17/00: rf: | ||
| - omu/Omu_Vector.C: add explicit call to constructor of VECP from | ||
| copy constructor of Omu_Vector | ||
| - omu/Hqp_Omuses.C: add check that vector dimension is not changed | ||
| in Omu_Program::init_simultion | ||
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| 05/13/00: rf: | ||
| - omu/Omu_Program.[hC]: add high-level contsistic | ||
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| 05/13/00: rf: | ||
| - omu/Hqp_Omuses.C, omu/Omu_IntDASPK.C, omu/Omu_IntODE.[hC]: | ||
| add support for _nv>0 expansion variables, i.e. sensitivities | ||
| are only calculated with respect to _nx states used by optimization | ||
| - omu/Omu_Integrator.[hC]: | ||
| new member _nx for number of states used as optimization variables | ||
| - omu/Omu_IntDASPK.C: don't provide analytical Jacobian to DASPK, | ||
| if it is not explicitly given via low level continuous | ||
|
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| 04/29/00: rf: | ||
| - extend omu/Omu_IntDASPK.[hC] with iterative Krylov capabilities | ||
| as worked out by hl | ||
| - omu/Omu_Integrator: introduce new flag _serr (prg_int_serr) | ||
| for user coice if sensitivities should be considered in error test | ||
| (default: false) | ||
| - omu/Omu_IntRKsuite, omu/Omu_IntDASPK: add support for _serr | ||
| - omu/Hqp_Omuses::obtain_struct: | ||
| exclude discrete states from determination of semi-bandwidths | ||
| - hqp/Hqp_Docp.[hC], omu/Hqp_Omuses.[hC]: | ||
| remove method reinit_bounds() and call init_vars() directly | ||
| from Hqp_Docp::reinit_bd | ||
| - hqp/Hqp_SqpSolver.C: take out update of Jacobians if hot started | ||
|
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| 04/14/00: release HQP 1.6b1 | ||
|
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| 04/09/00: rf: integrate DASPK3.0 with Omuses | ||
| - add files omu/Omu_IntDASPK.[hC] | ||
| - omu/Omu_Integrator.[hC]: remove dimensions from init_sample() | ||
| as they are constant within one stage; | ||
| pass xk and uk to init_stage() instead. | ||
| omu/Hqp_Omuses.C: change calls appropriately | ||
| - omu/Hqp_Omuses.C, omu/Omu_Vars.[hC]: introduce flag D_is_const | ||
| to indicate explicit differential equations | ||
| - omu/Omu_Integrator.[hC]: introduce new variables | ||
| _n (number of continuous states) and _m (number of parameters) | ||
| - omu/Omu_Integrator.[hC]: introduce general _res_evals, | ||
| _sen_evals, and _jac_evals; | ||
| update other integrators appropreately | ||
| - omu/Omu_Program.C: bug fix in ll. continuous for DAE integrators | ||
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| 04/07/00: rf | ||
| - omu/Omu_Integrator.C: change default _rtol from 1e-6 to 1e-8 | ||
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| 04/06/00: rf: add hot start feature to Sqp solver: | ||
| - hqp/Hqp_SqpSolver.[hC]: new method qp_reinit_bd | ||
| (Tcl command sqp_qp_reinit_bd), | ||
| which causes a re-initialization of bounds | ||
| - hqp/Hqp_SqpProgram.[hC]: add callback method reinit_bd | ||
| (provide default that does nothing) | ||
| - hqp/Hqp_Docp.[hC]: implement reinit_bd, provide new | ||
| interface method reinit_bounds(k, ...) | ||
| - omu/Hqp_Omuses.[hC]: implement reinit_bounds | ||
| (for now just call Omu_Program::setup assuming that no dims change) | ||
|
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| 04/03/00: rf | ||
| - add low-level continuous to omu/Omu_Program, | ||
| which calculates Jacobians using ADOL-C by default | ||
| --> can be overridden to provide analytic Jacobians | ||
| - let omu/Omu_IntODE call low-level continuous | ||
| - change default omu/Omu_Integrator::_atol from 1e-12 to 1e-8 | ||
| - omu/Hqp_Omuses.C: use Dopri5 as default integrator | ||
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| 03/30/00: ea | ||
| - move _rtol, _atol, prg_int_atol, prg_int_rtol to Omu_Integrator.[hC] | ||
| - update Omu_IntDopri5.[hC] | ||
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| 03/29/00: ea | ||
| - initialize CVS repository with version 1.6a4 | ||
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| 03/29/00: rf | ||
| - make ADOL-C working with Cygwin | ||
| (mv adol-c/SRC/{adallocc,taputilc,tayutilc}.c to | ||
| adol-c/SRC/{adalloc,taputil,tayutil}.c and | ||
| adol-c/SRC/DRIVERS/{driversc,odedriversc}.c to | ||
| adol-c/SRC/DRIVERS/{drivers,odedrivers}.c and | ||
| adol-c/SRC/SPARSE/{sparsec}.c to | ||
| adol-c/SRC/SPARSE/{sparse}.c) | ||
| - configure.in: temporarily disabled check for g2c.h and f2c.h | ||
| (due to name clash with ADOL-C 1.8.7 SRC/DRIVERS/taylor.h) | ||
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| 03/27/00: hl, ea | ||
| - update to ADOL-C 1.8.7 | ||
|
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| ------------------------------------------------------------------------------- | ||
| 11/10/99: ea | ||
| - Omu_IntRK4.[hC]: prg_int_atol, prg_int_rtol (dummy) | ||
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| 08/20/99: ea | ||
| - bugfix in Hqp_IpLQDOCP.C | ||
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| 05/07/99: ea | ||
| - update Omu_IntOdeTS.[Ch] | ||
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| 04/27/99: ea | ||
| - update to ADOL-C 1.8.2 | ||
| - change configure.in for egcs-1.1.2 (g77, libg2c) | ||
| - add omu/Omu_IntDopri5.[hC]: Dormand-Prince method | ||
| ------------------------------------------------------------------------------- | ||
| 03/22/00: rf | ||
| - include Omuses, Odc, and ADOL-C with distribution | ||
| - omu/Omu_Init.C: add call to Tcl_PkgRequire/Provide | ||
| - meschach/{machine, matrix, sparse}.h: replace __*_DECLS with MESCH__*_DECLS | ||
| - remove | ||
| #ifdef HAVE_IEEEFP_H | ||
| #include <ieeefp.h> | ||
| #endif | ||
| from hqp/Hqp_{Docp, DocpAdol, IpsFranke, IpsMehrotra, SqpPowell, SqpSchittkowski}.C as finite() is no longer called. | ||
| - remove check for ieeefp.h from configure.in and makedefs.in | ||
| - configure.in, omu/Omu_IntRKsuite.C: | ||
| add explicit support for g77, g2c.h, and -lg2c (avoid links) | ||
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| 01/06/00: rf | ||
| - modify configure script (consider TEA, run non-interactive) | ||
| - define VERSION in configure.in instead of in hqp/Hqp_Init.C | ||
| - let U_INT_DEF in meschach/machine.h be determined with configure | ||
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| 01/06/00: rf | ||
| - move defininition of const int Hqp_Docp::Periodical from .h to .C | ||
| - define own is_finite in Hqp.h (to get rid of BSD finite) | ||
| - exchange use of finite with is_finite | ||
| - remove (void) arg form t_mesch.[hC] and default args from t_mesch.C | ||
| - remove qsort.c from HQP sources (in hqp/Makefile) | ||
|
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| 12/25/99: rf | ||
| - hqp/Hqp_Init.C: add call to Tcl_PkgRequire | ||
| - hqp/Hqp_Init.C: remove utime implementation | ||
|
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| 12/23/99: rf | ||
| - change sign in Hqp_SqpProgram::test_cmd, so that it can | ||
| be used to approximate gradients numerically | ||
| - extended member access methods for Hqp_SqpSolver | ||
| - hqp_solve.tcl: print header line only if sqp_iter == 0 | ||
| - hqp/Meschach.[hC]: sp_update_val returns int != 0 if new entry | ||
| created | ||
| - hqp/Prg_CUTE*.C use sp_update_val instead of own sp_set_val2 | ||
| - move sprow_zero from Prg_CUTE*.C to Meschach.[hC] | ||
|
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| 12/21/99: rf | ||
| Resolve name clashes with ASCEND | ||
| - meschach/matrix.h L480: take away declaration of cube | ||
| - meschach/norm.c L68ff: take away definition of cube | ||
| - meschach/bkpfacto.c L45: make sqr static | ||
|
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| 12/21/99: rf | ||
| - rename hqp/Hqp_CUTEstubs1.C to hqp/Hqp_CUTE_stubs_.C | ||
| - rename hqp/Hqp_CUTEstubs2.C to hqp/Hqp_CUTE_dummies.C | ||
|
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| 12/17/99: rf | ||
| - add files hqp/Prg_ASCEND.[hC], hqp/Hqp_ASCEND_dummies.C | ||
|
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| 12/16/99: rf | ||
| - rename __P to MESCH__P in meschach/{machine,matrix,sparse}.h | ||
| as gcc version egcs-2.91.66 defines __P with throw() | ||
|
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| 4/13/99: release HQP 1.5p1 | ||
| 4/13/99: rf | ||
| - rename hqp/hqp.tcl to hqp/hqp_solve.tcl to avoid name conflict | ||
| with hqp/Hqp.C on systems that don't distinguish lower and upper case | ||
| - update hqp/Hqp_Init.C to evaluate hqp_solve | ||
| - update hqp/Makefile to build hqp_solve | ||
| - change eigen_control default to false, | ||
| (because Meschach's symmeig() may have endless iteration) | ||
|
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|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| include makedefs | ||
|
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| all: | ||
| $(MAKE) -f Makefile.hqp | ||
| if test ! "$(CXX)" = "cl -nologo"; then $(MAKE) omuses; fi | ||
|
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| omuses: | ||
| cd adol-c/INS; $(MAKE) xxxinstall; cd ../.. | ||
| cd adol-c/SRC; $(MAKE); cd ../.. | ||
| cd omu; $(MAKE); cd .. | ||
| mv omu/$(LIB_PREFIX)omu$(LIB_SUFFIX) lib | ||
| cd odc; $(MAKE); ./run Crane; cd .. | ||
|
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||
| clean: | ||
| cd odc; $(MAKE) clean; cd .. | ||
| cd malloc; $(MAKE) clean; cd .. | ||
| cd rksuite; rm -f *.o *~; cd .. | ||
| cd daspk; rm -f */*.o */*/*.o */*~ */*/*~ \ | ||
| examples/DM/heat examples/DM/heat.exe \ | ||
| examples/DM/heatilu examples/DM/heatilu.exe; cd .. | ||
| cd omu; $(MAKE) clean; cd .. | ||
| cd adol-c/SRC; $(MAKE) cleanall; rm -f makefile; cd ../.. | ||
| $(MAKE) -f Makefile.hqp clean | ||
| cd hqp_docp; $(MAKE) clean; cd .. | ||
| rm -f hqp_cute/*~ | ||
|
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| distclean: clean | ||
| rm -f makedefs makedirs odc/Makefile hqp_docp/Makefile | ||
|
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| LIB_DIR = $(INSTALL_PREFIX)/lib | ||
| INC_DIR_ROOT = $(INSTALL_PREFIX)/include | ||
| INC_DIR = $(INC_DIR_ROOT)/omuses | ||
| install: | ||
| @if test ! -d $(LIB_DIR); then mkdirhier $(LIB_DIR); fi | ||
| $(INSTALL) lib/libhqp$(LIB_SUFFIX) lib/libomu$(LIB_SUFFIX) $(LIB_DIR) | ||
| @if test ! -d $(INC_DIR_ROOT); then mkdir $(INC_DIR_ROOT); fi | ||
| @if test ! -d $(INC_DIR); then mkdir $(INC_DIR); fi | ||
| for f in meschach/*.h iftcl/*.h hqp/*.h adol-c/SRC/*.h omu/*.h; do \ | ||
| $(INSTALL_DATA) $$f $(INC_DIR); done | ||
| @if test ! -d $(INC_DIR)/DRIVERS; then mkdir $(INC_DIR)/DRIVERS; fi | ||
| for f in adol-c/SRC/DRIVERS/*.h; do \ | ||
| $(INSTALL_DATA) $$f $(INC_DIR)/DRIVERS; done | ||
| @if test ! -d $(INC_DIR)/SPARSE; then mkdir $(INC_DIR)/SPARSE; fi | ||
| for f in adol-c/SRC/SPARSE/*.h; do \ | ||
| $(INSTALL_DATA) $$f $(INC_DIR)/SPARSE; done | ||
| @if test ! -d $(INC_DIR)/TAPEDOC; then mkdir $(INC_DIR)/TAPEDOC; fi | ||
| for f in adol-c/SRC/TAPEDOC/*.h; do \ | ||
| $(INSTALL_DATA) $$f $(INC_DIR)/TAPEDOC; done |
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