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Merge branch 'v3.0.2' of github.com:ethz-adrl/control-toolbox into v3.0.2
2 parents 4ee6a33 + b4684fe commit f17d721

20 files changed

+449
-216
lines changed

‎.github/workflows/ccpp.yml

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name: ControlToolbox CI
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name: unit tests
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on:
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pull_request:

‎.github/workflows/test_hpipm_builds.yml

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name: build examples (incl. hpipm)
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on:
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pull_request:
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branches:
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- v3*
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- 3*
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- 4*
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- 2*
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- v2*
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- master
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schedule:
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- cron: "0 2 * * 0"
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jobs:
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ct_build_ex:
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runs-on: ${{ matrix.os }}
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strategy:
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matrix:
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os: [ubuntu-16.04, ubuntu-18.04]
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compiler: [gcc, clang]
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steps:
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- name: checkout code
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uses: actions/checkout@v2
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- name: Install cmake
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run: |
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sudo apt-get update >/dev/null # suppress output
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sudo apt-get install cmake >/dev/null # suppress output
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- name: Create workspace
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run: |
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src
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ln -s $GITHUB_WORKSPACE .
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- name: Install Gtest
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run: |
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sudo apt-get update >/dev/null # suppress output
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sudo apt-get install cmake >/dev/null # suppress output
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sudo apt install libgtest-dev >/dev/null # suppress output
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cd /usr/src/gtest/ >/dev/null # suppress output
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sudo mkdir build && cd build >/dev/null # suppress output
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sudo cmake .. -DBUILD_SHARED_LIBS=ON >/dev/null # suppress output
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sudo make >/dev/null # suppress output
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sudo cp *.so /usr/lib >/dev/null # suppress output
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cd ~/ >/dev/null # suppress output
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- name: Install deb-packaged dependencies
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run: |
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cd ~/catkin_ws/src/control-toolbox/ct
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chmod 775 install_deps.sh
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sudo ./install_deps.sh
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- name: Install blasfeo and hpipm
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run: |
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cd ~/catkin_ws/src/control-toolbox/ct
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chmod 775 install_hpipm.sh
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sudo ./install_hpipm.sh
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- name: build ct_core examples
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continue-on-error: false
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env:
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CC: ${{ matrix.compiler }}
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run: |
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cd ~/catkin_ws/src/control-toolbox/ct_core
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mkdir build && cd build
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cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=false -DBUILD_EXAMPLES=true -DCMAKE_CXX_FLAGS="-w"
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make
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sudo make install
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- name: build ct_optcon examples, also those requiring hpipm.
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continue-on-error: false
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env:
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CC: ${{ matrix.compiler }}
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run: |
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cd ~/catkin_ws/src/control-toolbox/ct_optcon
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mkdir build && cd build
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cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=false -DBUILD_EXAMPLES=true -DCMAKE_CXX_FLAGS="-w"
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make
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sudo make install

‎.gitignore

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@@ -9,8 +9,8 @@ CMakeCache.txt
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!Findhpipm.cmake
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!FindCppAD.cmake
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!FindCppADCG.cmake
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!Findllvm.cmake
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!Findclang.cmake
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!FindLLVM.cmake
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!FindClang.cmake
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!ct_core/cmake/ct_coreConfig.cmake
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!ct_optcon/cmake/ct_optconConfig.cmake
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!ct_rbd/cmake/ct_rbdConfig.cmake

‎ct/install_cppadcg.sh

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@@ -9,9 +9,9 @@ yes Y | sudo apt-get install llvm
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## install CppAD
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mkdir /tmp/cppadcg_deps
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cd /tmp/cppadcg_deps
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wget https://github.com/coin-or/CppAD/archive/20200000.2.tar.gz
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tar -xzf 20200000.2.tar.gz
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cd CppAD-20200000.2
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wget https://github.com/coin-or/CppAD/archive/20200000.3.tar.gz
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tar -xzf 20200000.3.tar.gz
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cd CppAD-20200000.3
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mkdir build
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cd build
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cmake -Dcppad_prefix:PATH='/usr/local' ..
@@ -21,9 +21,9 @@ sudo make install
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## install CppADCodeGen
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git clone https://github.com/joaoleal/CppADCodeGen.git /tmp/CppADCodeGen
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cd /tmp/CppADCodeGen
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git checkout v2.4.2 ## commit matching Cppad 2020 version
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git checkout v2.4.3
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mkdir -p build
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cd build
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cmake .. #-DLLVM_VERSION=6.0
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cmake ..
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make
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sudo make install

‎ct/install_hpipm.sh

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@@ -5,7 +5,7 @@ echo "Now installing blasfeo, using a specific commit/tag (!)"
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cd /tmp
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git clone https://github.com/giaf/blasfeo.git
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cd /tmp/blasfeo
8-
git checkout 50dc49e # we currently are on this release
8+
git checkout cc90e14 # we currently are on this commit.
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make static_library
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sudo make install_static
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@@ -14,7 +14,7 @@ echo "Now installing hpipm, using a specific commit/tag (!)"
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cd /tmp
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git clone https://github.com/giaf/hpipm.git
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cd /tmp/hpipm
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git checkout 0.1.2
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git checkout 5d9909f # we currently are on this commit.
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make static_library
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make examples
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sudo make install_static

‎ct_core/CMakeLists.txt

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@@ -21,8 +21,8 @@ find_package(Eigen3 REQUIRED)
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find_package(Boost COMPONENTS REQUIRED)
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## find and include optional dependencies
24-
find_package(llvm QUIET)
25-
find_package(clang QUIET)
24+
find_package(LLVM QUIET)
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find_package(Clang QUIET)
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if(LLVM_FOUND AND CLANG_FOUND)
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message(STATUS "Found LLVM/CLANG version " ${LLVM_VERSION_MAJOR}.${LLVM_VERSION_MINOR})
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set (LLVM ON)
@@ -100,10 +100,14 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/ct/core/templateDir.h.in ${CM
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## define the directories to be included in all ct_core targets
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list(APPEND ct_core_target_include_dirs ${EIGEN3_INCLUDE_DIR})
102102
if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
103-
list(APPEND ct_core_target_include_dirs ${PYTHON_INCLUDE_DIRS})
103+
if(PYTHONLIBS_FOUND)
104+
list(APPEND ct_core_target_include_dirs ${PYTHON_INCLUDE_DIRS})
105+
endif()
104106
else()
105-
list(APPEND ct_core_target_include_dirs ${Python_INCLUDE_DIRS})
106-
list(APPEND ct_core_target_include_dirs ${Python_NumPy_INCLUDE_DIRS})
107+
if(Python_FOUND AND ${Python_VERSION_MAJOR} EQUAL 3)
108+
list(APPEND ct_core_target_include_dirs ${Python_INCLUDE_DIRS})
109+
list(APPEND ct_core_target_include_dirs ${Python_NumPy_INCLUDE_DIRS})
110+
endif()
107111
endif()
108112
list(APPEND ct_core_target_include_dirs ${QWT_INCLUDE_DIR})
109113
list(APPEND ct_core_target_include_dirs $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
@@ -146,6 +150,8 @@ target_link_libraries(ct_core INTERFACE
146150
dl # required for gcc compatibility
147151
)
148152

153+
set(ct_core ct_core CACHE INTERNAL "ct_core library target.")
154+
set(ct_plot ct_plot CACHE INTERNAL "ct_plot library target.")
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##################
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# BUILD EXAMPLES #

‎ct_core/cmake/Findclang.cmake ‎ct_core/cmake/FindClang.cmake

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@@ -44,8 +44,8 @@ FIND_PATH(CLANG_INCLUDE_DIRS clang/Basic/Version.h HINTS ${LLVM_INCLUDE_DIRS})
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INCLUDE(FindPackageHandleStandardArgs)
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# handle the QUIETLY and REQUIRED arguments and set CLANG_FOUND to TRUE
4646
# if all listed variables are TRUE
47-
find_package_handle_standard_args(CLANG DEFAULT_MSG
47+
find_package_handle_standard_args(Clang DEFAULT_MSG
4848
CLANG_INCLUDE_DIRS
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CLANG_LIBS)
5050

51-
MARK_AS_ADVANCED(CLANG_INCLUDE_DIRS CLANG_LIBS)
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MARK_AS_ADVANCED(CLANG_INCLUDE_DIRS CLANG_LIBS)

‎ct_core/cmake/FindCppADCG.cmake

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@@ -38,7 +38,7 @@ ELSE()
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INCLUDE(FindPackageHandleStandardArgs)
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# handle the QUIETLY and REQUIRED arguments and set CPPADCG_FOUND to TRUE
4040
# if all listed variables are TRUE
41-
find_package_handle_standard_args(CppAD DEFAULT_MSG
41+
find_package_handle_standard_args(CppADCG DEFAULT_MSG
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CPPADCG_INCLUDE_DIRS)
4343

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MARK_AS_ADVANCED(CPPADCG_INCLUDE_DIRS CPPADCG_LIBRARIES)

‎ct_core/cmake/Findllvm.cmake ‎ct_core/cmake/FindLLVM.cmake

File renamed without changes.

‎ct_doc/doc/changelog.dox

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66
For a complete list of changes, we encourage you to check out our git repository at https://github.com/ethz-adrl/control-toolbox
77

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\section cl_v302 Version 3.0.2
9-
- upgraded HPIPM to version 0.1.1, which simplified the interface for getting Riccati-matrices from the solver
9+
- upgraded HPIPM to a version close to master, which simplified the interface for getting Riccati-matrices from the solver
1010
- resolved ordering-bug for box-constraints
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- switched back to differential formulation of LQ problems to maintain comparability with other solutions
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- simplified user-interface to the 7 different iLQR-style solver variants
1313
- removed copied code from external repos (CppAD and CppADCodeGen) and provided install script instead
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15-
\section cl_v301 Version 3.0.2
15+
\section cl_v301 Version 3.0.1
1616
- enabled compatibility with pure cmake (no catkin or ROS required anymore)
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- fixed bug in explicit template prespecification
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- fixed bug in exporting dependencies on external solvers

‎ct_doc/doc/installation.dox

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@@ -136,8 +136,9 @@ The following dependencies and bindings are optional but can help to enhance the
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(for ct::optcon::SnoptSolver and ct::optcon::IpoptSolver as used by ct::optcon::DMS)
137137

138138
- <a href="https://github.com/giaf/blasfeo">blasfeo</a> linear algebra and <a href="https://github.com/giaf/hpipm">HPIPM solver</a> as
139-
alternative high-performance (constrained) linear-quadratic optimal control solver. The CT currently supports hpipm version 0.1.2.
140-
Detailed reference about blasefeo can be found <a href="https://arxiv.org/abs/1704.02457">here</a>.
139+
alternative high-performance (constrained) linear-quadratic optimal control solver. The CT currently supports a hpipm version close to master.
140+
Please use the script install_hpipm.sh in control-toolbox/ct in order to retrieve a version of hpipm which is guaranteed to be tested
141+
in combination with CT. Detailed reference about blasefeo can be found <a href="https://arxiv.org/abs/1704.02457">here</a>.
141142
Both packages were developed by <a href="https://www.syscop.de/people/dr-gianluca-frison">Gianluca Frison</a>, <a href="https://www.syscop.de/">University of Freiburg</a>.
142143
Warning note : When installing blasfeo, a configuration step may be necessary. See https://blasfeo.syscop.de/docs/install/#configuration for how to set the build target to your architecture.
143144
We advice to run the tests provided by blasfeo to check the correct installation. If not configured properly, blasfeo may be installed succesfully, the CT may be built succesfully with hpipm dependencies, but a "illegal operation (core dumped)" is raised when calling hpipm.

‎ct_models/CMakeLists.txt

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11
cmake_minimum_required (VERSION 3.5)
22

3-
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/compilerSettings.cmake)
4-
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/explicitTemplateHelpers.cmake)
5-
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/clang-cxx-dev-tools.cmake)
3+
if(NOT TARGET clang-format)
4+
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/compilerSettings.cmake)
5+
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/explicitTemplateHelpers.cmake)
6+
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/clang-cxx-dev-tools.cmake)
7+
endif()
68
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/ct-cmake-helpers.cmake)
79

810

@@ -12,7 +14,9 @@ set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
1214
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wfatal-errors -std=c++14 -Wall -Wno-unknown-pragmas")
1315
set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
1416

15-
find_package(ct_rbd REQUIRED)
17+
if(NOT TARGET ${ct_rbd})
18+
find_package(ct_rbd REQUIRED)
19+
endif()
1620
find_package(Boost REQUIRED system filesystem)
1721

1822
# extract interface compile definitions from previous ct packages as options

‎ct_optcon/CMakeLists.txt

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11
cmake_minimum_required (VERSION 3.5)
22

3-
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/compilerSettings.cmake)
4-
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/explicitTemplateHelpers.cmake)
5-
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/clang-cxx-dev-tools.cmake)
3+
if(NOT TARGET clang-format)
4+
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/compilerSettings.cmake)
5+
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/explicitTemplateHelpers.cmake)
6+
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/clang-cxx-dev-tools.cmake)
7+
endif()
68
include(${CMAKE_CURRENT_SOURCE_DIR}/../ct/cmake/ct-cmake-helpers.cmake)
79

810

@@ -16,7 +18,9 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
1618

1719

1820
## find and include required dependencies
19-
find_package(ct_core REQUIRED)
21+
if(NOT TARGET ${ct_core})
22+
find_package(ct_core REQUIRED)
23+
endif()
2024
# extract interface compile definitions from ct_core as options
2125
importInterfaceCompileDefinitionsAsOptions(ct_core)
2226

@@ -57,13 +61,14 @@ else(LAPACK_FOUND)
5761
endif(LAPACK_FOUND)
5862

5963

60-
## include HPIPM
64+
## include blasfeo and hpipm, assumed to be installed in "/opt"
65+
list(APPEND CMAKE_PREFIX_PATH "/opt")
6166
find_package(blasfeo QUIET)
6267
find_package(hpipm QUIET)
6368
if(blasfeo_FOUND AND hpipm_FOUND)
6469
message(STATUS "Found HPIPM and BLASFEO")
6570
set(HPIPM ON)
66-
list(APPEND HPIPM_LIBS ${hpipm_LIBRARIES} ${blasfeo_LIBRARIES})
71+
list(APPEND HPIPM_LIBS hpipm blasfeo)
6772
list(APPEND ct_optcon_COMPILE_DEFINITIONS HPIPM)
6873
else()
6974
message(WARNING "Could not find HPIPM or BLASFEO")
@@ -156,6 +161,7 @@ target_link_libraries(ct_optcon INTERFACE
156161
${PRESPEC_LIB_NAMES}
157162
)
158163

164+
set(ct_optcon ct_optcon CACHE INTERNAL "ct_optcon library target.")
159165

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##################
161167
# BUILD EXAMPLES #

‎ct_optcon/cmake/Findblasfeo.cmake

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‎ct_optcon/cmake/Findhpipm.cmake

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