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87 lines
1.9 KiB
87 lines
1.9 KiB
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CC = clang
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CXX = clang++
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PHONELIBS = ../../../../phonelibs
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UNAME_S := $(shell uname -s)
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UNAME_M := $(shell uname -m)
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CFLAGS = -O3 -fPIC -I.
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CXXFLAGS = -O3 -fPIC -I.
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QPOASES_FLAGS = -I$(PHONELIBS)/qpoases -I$(PHONELIBS)/qpoases/INCLUDE -I$(PHONELIBS)/qpoases/SRC
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ACADO_FLAGS = -I$(PHONELIBS)/acado/include -I$(PHONELIBS)/acado/include/acado
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ifeq ($(UNAME_S),Darwin)
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ACADO_LIBS := -lacado_toolkit_s
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else ifeq ($(UNAME_M),aarch64)
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ACADO_LIBS := -L $(PHONELIBS)/acado/aarch64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
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else
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ACADO_LIBS := -L $(PHONELIBS)/acado/x64/lib -l:libacado_toolkit.a -l:libacado_casadi.a -l:libacado_csparse.a
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endif
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OBJS = \
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lib_qp/Bounds.o \
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lib_qp/Constraints.o \
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lib_qp/CyclingManager.o \
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lib_qp/Indexlist.o \
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lib_qp/MessageHandling.o \
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lib_qp/QProblem.o \
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lib_qp/QProblemB.o \
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lib_qp/SubjectTo.o \
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lib_qp/Utils.o \
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lib_qp/EXTRAS/SolutionAnalysis.o \
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lib_mpc_export/acado_qpoases_interface.o \
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lib_mpc_export/acado_integrator.o \
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lib_mpc_export/acado_solver.o \
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lib_mpc_export/acado_auxiliary_functions.o \
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lateral_mpc.o
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DEPS := $(OBJS:.o=.d)
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.PHONY: all
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all: libmpc.so
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libmpc.so: $(OBJS)
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$(CXX) -shared -o '$@' $^ -lm
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lib_qp/%.o: $(PHONELIBS)/qpoases/SRC/%.cpp
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@echo "[ CXX ] $@"
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mkdir -p lib_qp/EXTRAS
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$(CXX) $(CXXFLAGS) -MMD \
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-I lib_mpc_export/ \
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$(QPOASES_FLAGS) \
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-c -o '$@' '$<'
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%.o: %.cpp
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@echo "[ CXX ] $@"
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$(CXX) $(CXXFLAGS) -MMD \
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-I lib_mpc_export/ \
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$(QPOASES_FLAGS) \
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-c -o '$@' '$<'
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%.o: %.c
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@echo "[ CC ] $@"
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$(CC) $(CFLAGS) -MMD \
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-I lib_mpc_export/ \
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$(QPOASES_FLAGS) \
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-c -o '$@' '$<'
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generator: generator.cpp
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$(CXX) -v -Wall -std=c++11 \
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generator.cpp \
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-o generator \
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$(ACADO_FLAGS) \
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$(ACADO_LIBS)
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.PHONY: generate
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generate: generator
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./generator
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.PHONY: clean
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clean:
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rm -f *.so generator $(OBJS) $(DEPS)
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-include $(DEPS)
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