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Makefile
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###################################################################################################
# #
# This file is part of HPIPM. #
# #
# HPIPM -- High Performance Interior Point Method. #
# Copyright (C) 2017 by Gianluca Frison. #
# Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. #
# All rights reserved. #
# #
# HPMPC 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 2.1 of the License, or (at your option) any later version. #
# #
# HPMPC 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 HPMPC; if not, write to the Free Software #
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA #
# #
# Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de #
# #
###################################################################################################
include ./Makefile.rule
OBJS =
ifeq ($(TARGET), GENERIC)
OBJS +=
endif
# cond
OBJS += cond/d_cond_aux.o cond/d_cond.o cond/d_part_cond.o
OBJS += cond/s_cond_aux.o cond/s_cond.o cond/s_part_cond.o
# dense qp
OBJS += dense_qp/d_dense_qp.o dense_qp/d_dense_qp_sol.o dense_qp/d_dense_qp_kkt.o dense_qp/d_dense_qp_ipm.o
OBJS += dense_qp/s_dense_qp.o dense_qp/s_dense_qp_sol.o dense_qp/s_dense_qp_kkt.o dense_qp/s_dense_qp_ipm.o
# ipm core
OBJS += ipm_core/d_core_qp_ipm_aux.o ipm_core/d_core_qp_ipm.o
OBJS += ipm_core/s_core_qp_ipm_aux.o ipm_core/s_core_qp_ipm.o
# ocp nlp
#OBJS += ocp_nlp/d_ocp_nlp.o ocp_nlp/d_ocp_nlp_sol.o ocp_nlp/d_ocp_nlp_aux.o ocp_nlp/d_ocp_nlp_hyb.o ocp_nlp/d_ocp_nlp_ipm.o ocp_nlp/d_ocp_nlp_sqp.o
#OBJS +=
# ocp qp
# double
OBJS += ocp_qp/d_ocp_qp_size.o
OBJS += ocp_qp/d_ocp_qp.o
OBJS += ocp_qp/d_ocp_qp_sol.o
OBJS += ocp_qp/d_ocp_qp_kkt.o
OBJS += ocp_qp/d_ocp_qp_ipm.o
# single
OBJS += ocp_qp/s_ocp_qp_size.o
OBJS += ocp_qp/s_ocp_qp.o
OBJS += ocp_qp/s_ocp_qp_sol.o
OBJS += ocp_qp/s_ocp_qp_kkt.o
OBJS += ocp_qp/s_ocp_qp_ipm.o
# mixed
#OBJS += ocp_qp/m_ocp_qp.o ocp_qp/m_ocp_qp_kkt.o ocp_qp/m_ocp_qp_ipm.o
# sim core
#OBJS += sim_core/d_rk_int.o sim_core/d_erk_int.o sim_core/d_irk_int.o
#OBJS +=
# tree ocp qp
OBJS += tree_ocp_qp/scenario_tree.o
OBJS += tree_ocp_qp/d_tree_ocp_qp.o tree_ocp_qp/d_tree_ocp_qp_sol.o tree_ocp_qp/d_tree_ocp_qp_kkt.o tree_ocp_qp/d_tree_ocp_qp_ipm.o
OBJS += tree_ocp_qp/s_tree_ocp_qp.o tree_ocp_qp/s_tree_ocp_qp_sol.o tree_ocp_qp/s_tree_ocp_qp_kkt.o tree_ocp_qp/s_tree_ocp_qp_ipm.o
all: clean static_library
static_library: target
( cd cond; $(MAKE) obj)
( cd dense_qp; $(MAKE) obj)
( cd ipm_core; $(MAKE) obj)
( cd ocp_nlp; $(MAKE) obj)
( cd ocp_qp; $(MAKE) obj)
( cd sim_core; $(MAKE) obj)
( cd tree_ocp_qp; $(MAKE) obj)
ar rcs libhpipm.a $(OBJS)
cp libhpipm.a ./lib/
@echo
@echo " libhpipm.a static library build complete."
@echo
shared_library: target
( cd cond; $(MAKE) obj)
( cd dense_qp; $(MAKE) obj)
( cd ipm_core; $(MAKE) obj)
( cd ocp_nlp; $(MAKE) obj)
( cd ocp_qp; $(MAKE) obj)
( cd sim_core; $(MAKE) obj)
( cd tree_ocp_qp; $(MAKE) obj)
gcc -shared -o libhpipm.so $(OBJS)
cp libhpipm.so ./lib/
@echo
@echo " libhpipm.so shared library build complete."
@echo
target:
touch ./include/hpipm_target.h
ifeq ($(TARGET), GENERIC)
echo "#ifndef TARGET_GENERIC" > ./include/hpipm_target.h
echo "#define TARGET_GENERIC" >> ./include/hpipm_target.h
echo "#endif" >> ./include/hpipm_target.h
endif
install_static:
mkdir -p $(PREFIX)/hpipm
mkdir -p $(PREFIX)/hpipm/lib
cp -f libhpipm.a $(PREFIX)/hpipm/lib/
mkdir -p $(PREFIX)/hpipm/include
cp -f ./include/*.h $(PREFIX)/hpipm/include/
install_shared:
mkdir -p $(PREFIX)/hpipm
mkdir -p $(PREFIX)/hpipm/lib
cp -f libhpipm.so $(PREFIX)/hpipm/lib/
mkdir -p $(PREFIX)/hpipm/include
cp -f ./include/*.h $(PREFIX)/hpipm/include/
test_problem:
cp libhpipm.a ./test_problems/libhpipm.a
make -C test_problems obj
@echo
@echo " Test problem build complete."
@echo
run:
./test_problems/test.out
clean:
rm -f libhpipm.a
rm -f libhpipm.so
rm -f ./lib/libhpipm.a
rm -f ./lib/libhpipm.so
make -C cond clean
make -C dense_qp clean
make -C ipm_core clean
make -C ocp_nlp clean
make -C ocp_qp clean
make -C sim_core clean
make -C tree_ocp_qp clean
make -C test_problems clean