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29 lines
924 B
29 lines
924 B
Import('env', 'arch')
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cpp_path = [
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"#phonelibs/acado/include",
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"#phonelibs/acado/include/acado",
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"#phonelibs/qpoases/INCLUDE",
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"#phonelibs/qpoases/INCLUDE/EXTRAS",
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"#phonelibs/qpoases/SRC/",
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"#phonelibs/qpoases",
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"lib_mpc_export"
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]
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mpc_files = [
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"lateral_mpc.c",
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Glob("lib_mpc_export/*.c"),
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Glob("lib_mpc_export/*.cpp"),
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]
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interface_dir = Dir('lib_mpc_export')
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SConscript(['#phonelibs/qpoases/SConscript'], variant_dir='lib_qp', exports=['interface_dir'])
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env.SharedLibrary('mpc', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
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# if arch != "aarch64":
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# acado_libs = [File("#phonelibs/acado/x64/lib/libacado_toolkit.a"),
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# File("#phonelibs/acado/x64/lib/libacado_casadi.a"),
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# File("#phonelibs/acado/x64/lib/libacado_csparse.a")]
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# env.Program('generator', 'generator.cpp', LIBS=acado_libs, CPPPATH=cpp_path)
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