| Austin Schuh | 16ce3c7 | 2018-01-28 16:17:08 -0800 | [diff] [blame] | 1 | ################################################################################################### |
| 2 | # # |
| 3 | # This file is part of HPIPM. # |
| 4 | # # |
| 5 | # HPIPM -- High Performance Interior Point Method. # |
| 6 | # Copyright (C) 2017 by Gianluca Frison. # |
| 7 | # Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. # |
| 8 | # All rights reserved. # |
| 9 | # # |
| 10 | # HPMPC is free software; you can redistribute it and/or # |
| 11 | # modify it under the terms of the GNU Lesser General Public # |
| 12 | # License as published by the Free Software Foundation; either # |
| 13 | # version 2.1 of the License, or (at your option) any later version. # |
| 14 | # # |
| 15 | # HPMPC is distributed in the hope that it will be useful, # |
| 16 | # but WITHOUT ANY WARRANTY; without even the implied warranty of # |
| 17 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. # |
| 18 | # See the GNU Lesser General Public License for more details. # |
| 19 | # # |
| 20 | # You should have received a copy of the GNU Lesser General Public # |
| 21 | # License along with HPMPC; if not, write to the Free Software # |
| 22 | # Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA # |
| 23 | # # |
| 24 | # Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de # |
| 25 | # # |
| 26 | ################################################################################################### |
| 27 | |
| 28 | include ./Makefile.rule |
| 29 | |
| 30 | OBJS = |
| 31 | |
| 32 | ifeq ($(TARGET), GENERIC) |
| 33 | OBJS += |
| 34 | endif |
| 35 | |
| 36 | # dense qp |
| 37 | OBJS += dense_qp/d_dense_qp.o dense_qp/d_dense_qp_sol.o dense_qp/d_dense_qp_kkt.o dense_qp/d_dense_qp_ipm_hard.o |
| 38 | OBJS += dense_qp/s_dense_qp.o dense_qp/s_dense_qp_sol.o dense_qp/s_dense_qp_kkt.o dense_qp/s_dense_qp_ipm_hard.o |
| 39 | # ocp qp |
| 40 | OBJS += ocp_qp/d_ocp_qp.o ocp_qp/d_ocp_qp_sol.o ocp_qp/d_ocp_qp_kkt.o ocp_qp/d_ocp_qp_ipm_hard.o |
| 41 | OBJS += ocp_qp/s_ocp_qp.o ocp_qp/s_ocp_qp_sol.o ocp_qp/s_ocp_qp_kkt.o ocp_qp/s_ocp_qp_ipm_hard.o |
| 42 | OBJS += ocp_qp/m_ocp_qp.o ocp_qp/m_ocp_qp_kkt.o ocp_qp/m_ocp_qp_ipm_hard.o |
| 43 | # core qp |
| 44 | OBJS += core_qp/d_core_qp_ipm_hard_aux.o core_qp/d_core_qp_ipm_hard.o |
| 45 | OBJS += core_qp/s_core_qp_ipm_hard_aux.o core_qp/s_core_qp_ipm_hard.o |
| 46 | # cond |
| 47 | OBJS += cond/d_cond_aux.o cond/d_cond.o cond/d_part_cond.o |
| 48 | |
| 49 | all: clean static_library |
| 50 | |
| 51 | static_library: target |
| 52 | ( cd cond; $(MAKE) obj) |
| 53 | ( cd core_qp; $(MAKE) obj) |
| 54 | ( cd dense_qp; $(MAKE) obj) |
| 55 | ( cd ocp_qp; $(MAKE) obj) |
| 56 | ar rcs libhpipm.a $(OBJS) |
| 57 | cp libhpipm.a ./lib/ |
| 58 | @echo |
| 59 | @echo " libhpipm.a static library build complete." |
| 60 | @echo |
| 61 | |
| 62 | shared_library: target |
| 63 | ( cd cond; $(MAKE) obj) |
| 64 | ( cd core_qp; $(MAKE) obj) |
| 65 | ( cd dense_qp; $(MAKE) obj) |
| 66 | ( cd ocp_qp; $(MAKE) obj) |
| 67 | gcc -shared -o libhpipm.so $(OBJS) |
| 68 | cp libhpipm.so ./lib/ |
| 69 | @echo |
| 70 | @echo " libhpipm.so shared library build complete." |
| 71 | @echo |
| 72 | |
| 73 | target: |
| 74 | touch ./include/hpipm_target.h |
| 75 | ifeq ($(TARGET), GENERIC) |
| 76 | echo "#ifndef TARGET_GENERIC" > ./include/hpipm_target.h |
| 77 | echo "#define TARGET_GENERIC" >> ./include/hpipm_target.h |
| 78 | echo "#endif" >> ./include/hpipm_target.h |
| 79 | endif |
| 80 | |
| 81 | install_static: |
| 82 | mkdir -p $(PREFIX)/hpipm |
| 83 | mkdir -p $(PREFIX)/hpipm/lib |
| 84 | cp -f libhpipm.a $(PREFIX)/hpipm/lib/ |
| 85 | mkdir -p $(PREFIX)/hpipm/include |
| 86 | cp -f ./include/*.h $(PREFIX)/hpipm/include/ |
| 87 | |
| 88 | install_shared: |
| 89 | mkdir -p $(PREFIX)/hpipm |
| 90 | mkdir -p $(PREFIX)/hpipm/lib |
| 91 | cp -f libhpipm.so $(PREFIX)/hpipm/lib/ |
| 92 | mkdir -p $(PREFIX)/hpipm/include |
| 93 | cp -f ./include/*.h $(PREFIX)/hpipm/include/ |
| 94 | |
| 95 | test_problem: |
| 96 | cp libhpipm.a ./test_problems/libhpipm.a |
| 97 | make -C test_problems obj |
| 98 | @echo |
| 99 | @echo " Test problem build complete." |
| 100 | @echo |
| 101 | |
| 102 | run: |
| 103 | ./test_problems/test.out |
| 104 | |
| 105 | clean: |
| 106 | rm -f libhpipm.a |
| 107 | rm -f libhpipm.so |
| 108 | rm -f ./lib/libhpipm.a |
| 109 | rm -f ./lib/libhpipm.so |
| 110 | make -C cond clean |
| 111 | make -C core_qp clean |
| 112 | make -C dense_qp clean |
| 113 | make -C ocp_qp clean |
| 114 | make -C test_problems clean |
| 115 | |