Merge pull request #172 from ethz-adrl/fix/use_cmake_to_install_hpipm

Forward to hpipm version 0.1.3, use cmake to install blasfeo and hpipm.

Author: markusgft

ct/install_hpipm.sh

@@ -1,20 +1,30 @@
 #!/bin/bash
+set -x #echo on
+
+## remove existing installation of blasfeo/hpipm
+rm -rf /opt/blasfeo
+rm -rf /opt/hpipm
 
 ## get blasfeo
 echo "Now installing blasfeo, using a specific commit/tag (!)"
 cd /tmp
+rm -rf blasfeo/
 git clone https://github.com/giaf/blasfeo.git
 cd /tmp/blasfeo
-git checkout cc90e14 # we currently are on this commit.
-make static_library
-sudo make install_static
+git checkout 0.1.2
+mkdir -p build && cd build
+cmake ..
+make
+sudo make install
 
 ## get hpipm
 echo "Now installing hpipm, using a specific commit/tag (!)"
 cd /tmp
+rm -rf hpipm/
 git clone https://github.com/giaf/hpipm.git
 cd /tmp/hpipm
-git checkout 5d9909f # we currently are on this commit.
-make static_library
-make examples
-sudo make install_static
+git checkout 0.1.3
+mkdir -p build && cd build
+cmake ..
+make
+sudo make install

ct_optcon/examples/CMakeLists.txt

@@ -1,43 +1,43 @@
 set(CT_OPTCON_EXAMPLE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/exampleDir.h.in ${CMAKE_CURRENT_SOURCE_DIR}/exampleDir.h)
 
-add_executable(ex_ConstraintOutput ConstraintExampleOutput.cpp)
-target_link_libraries(ex_ConstraintOutput ct_optcon)
-list(APPEND optcon_ex_TARGETS ex_ConstraintOutput)
+# add_executable(ex_ConstraintOutput ConstraintExampleOutput.cpp)
+# target_link_libraries(ex_ConstraintOutput ct_optcon)
+# list(APPEND optcon_ex_TARGETS ex_ConstraintOutput)
 
-add_executable(ex_NLOC NLOC.cpp)
-target_link_libraries(ex_NLOC ct_optcon)
-list(APPEND optcon_ex_TARGETS ex_NLOC)
+# add_executable(ex_NLOC NLOC.cpp)
+# target_link_libraries(ex_NLOC ct_optcon)
+# list(APPEND optcon_ex_TARGETS ex_NLOC)
 
-add_executable(ex_NLOC_MPC NLOC_MPC.cpp)
-target_link_libraries(ex_NLOC_MPC ct_optcon)
-list(APPEND optcon_ex_TARGETS ex_NLOC_MPC)
+# add_executable(ex_NLOC_MPC NLOC_MPC.cpp)
+# target_link_libraries(ex_NLOC_MPC ct_optcon)
+# list(APPEND optcon_ex_TARGETS ex_NLOC_MPC)
 
-add_executable(ex_KalmanFiltering KalmanFiltering.cpp)
-target_link_libraries(ex_KalmanFiltering ct_optcon)
-list(APPEND optcon_ex_TARGETS ex_KalmanFiltering)
+# add_executable(ex_KalmanFiltering KalmanFiltering.cpp)
+# target_link_libraries(ex_KalmanFiltering ct_optcon)
+# list(APPEND optcon_ex_TARGETS ex_KalmanFiltering)
 
-add_executable(ex_KalmanDisturbanceFiltering KalmanDisturbanceFiltering.cpp)
-target_link_libraries(ex_KalmanDisturbanceFiltering ct_optcon )
-list(APPEND optcon_ex_TARGETS ex_KalmanDisturbanceFiltering)
+# add_executable(ex_KalmanDisturbanceFiltering KalmanDisturbanceFiltering.cpp)
+# target_link_libraries(ex_KalmanDisturbanceFiltering ct_optcon )
+# list(APPEND optcon_ex_TARGETS ex_KalmanDisturbanceFiltering)
 
-add_executable(ex_Nlp_2D nlp/Nlp2D.cpp)
-target_link_libraries(ex_Nlp_2D ct_optcon)
-list(APPEND optcon_ex_TARGETS ex_Nlp_2D)
+# add_executable(ex_Nlp_2D nlp/Nlp2D.cpp)
+# target_link_libraries(ex_Nlp_2D ct_optcon)
+# list(APPEND optcon_ex_TARGETS ex_Nlp_2D)
 
-add_executable(ex_Nlp_3D nlp/Nlp3D.cpp)
-target_link_libraries(ex_Nlp_3D ct_optcon)
-list(APPEND optcon_ex_TARGETS ex_Nlp_3D)
+# add_executable(ex_Nlp_3D nlp/Nlp3D.cpp)
+# target_link_libraries(ex_Nlp_3D ct_optcon)
+# list(APPEND optcon_ex_TARGETS ex_Nlp_3D)
 
-add_executable(ex_DMS DMS.cpp)
-target_link_libraries(ex_DMS ct_optcon)
-list(APPEND optcon_ex_TARGETS ex_DMS)
+# add_executable(ex_DMS DMS.cpp)
+# target_link_libraries(ex_DMS ct_optcon)
+# list(APPEND optcon_ex_TARGETS ex_DMS)
 
-if(CPPADCG)
-  add_executable(ex_LQR LQR.cpp)
-  target_link_libraries(ex_LQR ct_optcon)
-  list(APPEND optcon_ex_TARGETS ex_LQR)
-endif()
+# if(CPPADCG)
+#   add_executable(ex_LQR LQR.cpp)
+#   target_link_libraries(ex_LQR ct_optcon)
+#   list(APPEND optcon_ex_TARGETS ex_LQR)
+# endif()
 
 if(HPIPM)
     add_executable(ex_NLOC_boxConstrained NLOC_boxConstrained.cpp)
@@ -49,9 +49,9 @@ if(HPIPM)
       target_link_libraries(ex_NLOC_generalConstrained ct_optcon)
       list(APPEND optcon_ex_TARGETS ex_NLOC_generalConstrained)
 
-      add_executable(switched_continuous_optcon_example switched_systems_optcon/switched_continuous_optcon.cpp)
-      target_link_libraries(switched_continuous_optcon_example ct_optcon)
-      list(APPEND optcon_ex_TARGETS switched_continuous_optcon_example)
+      # add_executable(switched_continuous_optcon_example switched_systems_optcon/switched_continuous_optcon.cpp)
+      # target_link_libraries(switched_continuous_optcon_example ct_optcon)
+      # list(APPEND optcon_ex_TARGETS switched_continuous_optcon_example)
     endif()
 endif(HPIPM)