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###################################################################################################
# #
# This file is part of HPIPM. #
# #
# HPIPM -- High-Performance Interior Point Method. #
# Copyright (C) 2017-2018 by Gianluca Frison. #
# Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. #
# All rights reserved. #
# #
# This program is free software: you can redistribute it and/or modify #
# it under the terms of the GNU General Public License as published by #
# the Free Software Foundation, either version 3 of the License, or #
# (at your option) any later version #.
# #
# This program 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 General Public License for more details. #
# #
# You should have received a copy of the GNU General Public License #
# along with this program. If not, see <https://www.gnu.org/licenses/>. #
# #
# The authors designate this particular file as subject to the "Classpath" exception #
# as provided by the authors in the LICENSE file that accompained this code. #
# #
# Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de #
# #
###################################################################################################
cmake_minimum_required(VERSION 2.8.11)
project(hpipm)
set(CMAKE_VERBOSE_MAKEFILE ON)
# Target architecture
set(TARGET GENERIC)
# BLAS and LAPACK version (for LA=BLAS in BLASFEO)
set(REF_BLAS 0)
#set(REF_BLAS OPENBLAS)
#set(REF_BLAS NETLIB)
#set(REF_BLAS MKL)
#set(REF_BLAS BLIS)
#set(REF_BLAS ATLAS)
# Options
set(HPIPM_TESTING ON CACHE BOOL "Tests enabled")
# set(HPIPM_TESTING OFF CACHE BOOL "Tests disabled")
# BLASFEO
if(NOT TARGET blasfeo)
# BLASFEO installation directory
set(BLASFEO_PATH /opt/blasfeo)
add_library(blasfeo STATIC IMPORTED)
set_target_properties(blasfeo PROPERTIES IMPORTED_LOCATION ${BLASFEO_PATH}/lib/libblasfeo.a)
set(BLASFEO_INCLUDE_DIR ${BLASFEO_PATH}/include)
else()
# TODO: horrible hardcode; needs to go
set(BLASFEO_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../blasfeo/include)
endif()
set(HPIPM_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/include)
# headers installation directory
set(HPIPM_HEADERS_INSTALLATION_DIRECTORY "include" CACHE STRING "Headers local installation directory")
# enable runtine checks
set(RUNTIME_CHECKS 0)
#set(RUNTIME_CHECKS 1)
## compiler flags
#set(CMAKE_C_FLAGS "")
#
## optimization flags
#set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O2")
#if(CMAKE_COMPILER_ID MATCHES "GNU" OR CMAKE_COMPILER_ID MATCHES "Clang")
# set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
#endif()
#
if(${REF_BLAS} MATCHES 0)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ")
endif(${REF_BLAS} MATCHES 0)
if(${REF_BLAS} MATCHES OPENBLAS)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DREF_BLAS_OPENBLAS -I/opt/openblas/include")
endif(${REF_BLAS} MATCHES OPENBLAS)
if(${REF_BLAS} MATCHES BLIS)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DREF_BLAS_BLIS -std=c99")
endif(${REF_BLAS} MATCHES BLIS)
if(${REF_BLAS} MATCHES NETLIB)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DREF_BLAS_NETLIB")
endif(${REF_BLAS} MATCHES NETLIB)
if(${REF_BLAS} MATCHES MKL)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DREF_BLAS_MKL -m64 -I/opt/intel/mkl/include")
endif(${REF_BLAS} MATCHES MKL)
if(${REF_BLAS} MATCHES ATLAS)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DREF_BLAS_ATLAS")
endif(${REF_BLAS} MATCHES ATLAS)
#
if(${RUNTIME_CHECKS} MATCHES 1)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DRUNTIME_CHECKS")
endif(${RUNTIME_CHECKS} MATCHES 1)
# architecture-specific flags
if(${TARGET} MATCHES GENERIC)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DTARGET_GENERIC")
endif(${TARGET} MATCHES GENERIC)
# source files
# cond
file(GLOB COND_SRC
${PROJECT_SOURCE_DIR}/cond/d_cond.c
${PROJECT_SOURCE_DIR}/cond/d_cond_aux.c
${PROJECT_SOURCE_DIR}/cond/d_part_cond.c
${PROJECT_SOURCE_DIR}/cond/s_cond.c
${PROJECT_SOURCE_DIR}/cond/s_cond_aux.c
${PROJECT_SOURCE_DIR}/cond/s_part_cond.c
)
# dense qp
file(GLOB DENSE_QP_SRC
${PROJECT_SOURCE_DIR}/dense_qp/d_dense_qp.c
${PROJECT_SOURCE_DIR}/dense_qp/d_dense_qp_dim.c
${PROJECT_SOURCE_DIR}/dense_qp/d_dense_qp_sol.c
${PROJECT_SOURCE_DIR}/dense_qp/d_dense_qp_kkt.c
${PROJECT_SOURCE_DIR}/dense_qp/d_dense_qp_ipm.c
${PROJECT_SOURCE_DIR}/dense_qp/d_dense_qp_res.c
${PROJECT_SOURCE_DIR}/dense_qp/s_dense_qp.c
${PROJECT_SOURCE_DIR}/dense_qp/s_dense_qp_dim.c
${PROJECT_SOURCE_DIR}/dense_qp/s_dense_qp_sol.c
${PROJECT_SOURCE_DIR}/dense_qp/s_dense_qp_kkt.c
${PROJECT_SOURCE_DIR}/dense_qp/s_dense_qp_ipm.c
${PROJECT_SOURCE_DIR}/dense_qp/s_dense_qp_res.c
)
# core ipm
file(GLOB IPM_CORE_SRC
${PROJECT_SOURCE_DIR}/ipm_core/d_core_qp_ipm_aux.c
${PROJECT_SOURCE_DIR}/ipm_core/d_core_qp_ipm.c
${PROJECT_SOURCE_DIR}/ipm_core/s_core_qp_ipm_aux.c
${PROJECT_SOURCE_DIR}/ipm_core/s_core_qp_ipm.c
)
# ocp qp
file(GLOB OCP_QP_SRC
${PROJECT_SOURCE_DIR}/ocp_qp/d_ocp_qp.c
${PROJECT_SOURCE_DIR}/ocp_qp/d_ocp_qp_dim.c
${PROJECT_SOURCE_DIR}/ocp_qp/d_ocp_qp_sol.c
${PROJECT_SOURCE_DIR}/ocp_qp/d_ocp_qp_kkt.c
${PROJECT_SOURCE_DIR}/ocp_qp/d_ocp_qp_ipm.c
${PROJECT_SOURCE_DIR}/ocp_qp/d_ocp_qp_res.c
${PROJECT_SOURCE_DIR}/ocp_qp/d_ocp_qp_utils.c
${PROJECT_SOURCE_DIR}/ocp_qp/s_ocp_qp.c
${PROJECT_SOURCE_DIR}/ocp_qp/s_ocp_qp_dim.c
${PROJECT_SOURCE_DIR}/ocp_qp/s_ocp_qp_sol.c
${PROJECT_SOURCE_DIR}/ocp_qp/s_ocp_qp_kkt.c
${PROJECT_SOURCE_DIR}/ocp_qp/s_ocp_qp_ipm.c
${PROJECT_SOURCE_DIR}/ocp_qp/s_ocp_qp_res.c
${PROJECT_SOURCE_DIR}/ocp_qp/s_ocp_qp_utils.c
# ${PROJECT_SOURCE_DIR}/ocp_qp/m_ocp_qp.c
# ${PROJECT_SOURCE_DIR}/ocp_qp/m_ocp_qp_kkt.c
# ${PROJECT_SOURCE_DIR}/ocp_qp/m_ocp_qp_ipm_hard.c
)
# tree qp
file(GLOB TREE_OCP_QP_SRC
${PROJECT_SOURCE_DIR}/tree_ocp_qp/scenario_tree.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/d_tree_ocp_qp.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/d_tree_ocp_qp_dim.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/d_tree_ocp_qp_sol.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/d_tree_ocp_qp_kkt.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/d_tree_ocp_qp_ipm.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/d_tree_ocp_qp_res.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/s_tree_ocp_qp.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/s_tree_ocp_qp_dim.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/s_tree_ocp_qp_sol.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/s_tree_ocp_qp_kkt.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/s_tree_ocp_qp_ipm.c
${PROJECT_SOURCE_DIR}/tree_ocp_qp/s_tree_ocp_qp_res.c
)
# auxiliary
file(GLOB AUXILIARY_SRC
${PROJECT_SOURCE_DIR}/auxiliary/aux_string.c
)
set(HPIPM_SRC ${COND_SRC} ${DENSE_QP_SRC} ${IPM_CORE_SRC} ${OCP_QP_SRC} ${TREE_OCP_QP_SRC} ${AUXILIARY_SRC})
add_library(hpipm ${HPIPM_SRC})
target_include_directories(hpipm
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>
$<INSTALL_INTERFACE:include/hpipm/include>)
target_link_libraries(hpipm blasfeo)
install(TARGETS hpipm EXPORT hpipmConfig
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin)
install(EXPORT hpipmConfig DESTINATION cmake)
file(GLOB_RECURSE HPIPM_HEADERS "include/*.h")
install(FILES ${HPIPM_HEADERS} DESTINATION ${HPIPM_HEADERS_INSTALLATION_DIRECTORY})
# test problems
if(HPIPM_TESTING MATCHES ON)
add_subdirectory(test_problems)
endif()
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