407 lines
14 KiB
Makefile
407 lines
14 KiB
Makefile
#
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# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
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# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
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# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
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# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
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#
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# This file is part of acados.
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#
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# The 2-Clause BSD License
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# 1. Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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#
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# 2. Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.;
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#
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{%- if solver_options.qp_solver %}
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{%- set qp_solver = solver_options.qp_solver %}
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{%- else %}
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{%- set qp_solver = "FULL_CONDENSING_HPIPM" %}
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{%- endif %}
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{%- if solver_options.hessian_approx %}
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{%- set hessian_approx = solver_options.hessian_approx %}
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{%- elif solver_options.sens_hess %}
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{%- set hessian_approx = "EXACT" %}
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{%- else %}
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{%- set hessian_approx = "GAUSS_NEWTON" %}
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{%- endif %}
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{%- if constraints.constr_type %}
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{%- set constr_type = constraints.constr_type %}
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{%- else %}
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{%- set constr_type = "NONE" %}
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{%- endif %}
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{%- if constraints.constr_type_e %}
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{%- set constr_type_e = constraints.constr_type_e %}
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{%- else %}
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{%- set constr_type_e = "NONE" %}
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{%- endif %}
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{%- if cost.cost_type %}
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{%- set cost_type = cost.cost_type %}
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{%- else %}
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{%- set cost_type = "NONE" %}
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{%- endif %}
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{%- if cost.cost_type_e %}
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{%- set cost_type_e = cost.cost_type_e %}
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{%- else %}
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{%- set cost_type_e = "NONE" %}
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{%- endif %}
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{%- if cost.cost_type_0 %}
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{%- set cost_type_0 = cost.cost_type_0 %}
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{%- else %}
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{%- set cost_type_0 = "NONE" %}
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{%- endif %}
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{%- if dims.nh %}
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{%- set dims_nh = dims.nh %}
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{%- else %}
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{%- set dims_nh = 0 %}
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{%- endif %}
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{%- if dims.nphi %}
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{%- set dims_nphi = dims.nphi %}
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{%- else %}
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{%- set dims_nphi = 0 %}
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{%- endif %}
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{%- if dims.nh_e %}
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{%- set dims_nh_e = dims.nh_e %}
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{%- else %}
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{%- set dims_nh_e = 0 %}
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{%- endif %}
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{%- if dims.nphi_e %}
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{%- set dims_nphi_e = dims.nphi_e %}
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{%- else %}
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{%- set dims_nphi_e = 0 %}
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{%- endif %}
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{%- if solver_options.model_external_shared_lib_dir %}
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{%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %}
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{%- endif %}
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{%- if solver_options.model_external_shared_lib_name %}
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{%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %}
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{%- endif %}
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{# control operator #}
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{%- if os and os == "pc" %}
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{%- set control = "&" %}
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{%- else %}
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{%- set control = ";" %}
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{%- endif %}
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{# acados linking libraries and flags #}
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{%- if acados_link_libs and os and os == "pc" %}
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{%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%}
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{%- set openmp_flag = acados_link_libs.openmp %}
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{%- else %}
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{%- set openmp_flag = " " %}
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{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
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{%- set link_libs = "-lqpOASES_e" %}
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{%- else %}
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{%- set link_libs = "" %}
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{%- endif %}
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{%- endif %}
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# define sources and use make's implicit rules to generate object files (*.o)
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# model
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MODEL_SRC=
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{%- if solver_options.integrator_type == "ERK" %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
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{%- if hessian_approx == "EXACT" %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
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{%- endif %}
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{%- elif solver_options.integrator_type == "IRK" %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
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{%- if hessian_approx == "EXACT" %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
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{%- endif %}
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{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
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{%- if hessian_approx == "EXACT" %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
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{%- endif %}
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{%- elif solver_options.integrator_type == "GNSF" %}
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{% if model.gnsf.purely_linear != 1 %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
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{% if model.gnsf.nontrivial_f_LO == 1 %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
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{%- endif %}
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{%- endif %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
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{%- elif solver_options.integrator_type == "DISCRETE" %}
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{%- if model.dyn_ext_fun_type == "casadi" %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
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{%- if hessian_approx == "EXACT" %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
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{%- endif %}
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{%- else %}
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MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
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{%- endif %}
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{%- endif %}
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MODEL_OBJ := $(MODEL_SRC:.c=.o)
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# optimal control problem - mostly CasADi exports
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OCP_SRC=
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{%- if constr_type == "BGP" and dims_nphi > 0 %}
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OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
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{%- endif %}
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{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
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OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
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{%- endif %}
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{%- if constr_type == "BGH" and dims_nh > 0 %}
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OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
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OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
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{%- if hessian_approx == "EXACT" %}
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OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
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{%- endif %}
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{%- endif %}
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{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
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OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
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OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
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{%- if hessian_approx == "EXACT" %}
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OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
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{%- endif %}
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{%- endif %}
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{%- if cost_type_0 == "NONLINEAR_LS" %}
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
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{%- elif cost_type_0 == "EXTERNAL" %}
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{%- if cost.cost_ext_fun_type_0 == "casadi" %}
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
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{%- else %}
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OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
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{%- endif %}
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{%- endif %}
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{%- if cost_type == "NONLINEAR_LS" %}
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
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{%- elif cost_type == "EXTERNAL" %}
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{%- if cost.cost_ext_fun_type == "casadi" %}
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
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{%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
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OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
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{%- endif %}
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{%- endif %}
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{%- if cost_type_e == "NONLINEAR_LS" %}
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
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{%- elif cost_type_e == "EXTERNAL" %}
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{%- if cost.cost_ext_fun_type_e == "casadi" %}
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
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OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
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{%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
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OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
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{%- endif %}
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{%- endif %}
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OCP_SRC+= acados_solver_{{ model.name }}.c
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OCP_OBJ := $(OCP_SRC:.c=.o)
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# for sim solver
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SIM_SRC= acados_sim_solver_{{ model.name }}.c
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SIM_OBJ := $(SIM_SRC:.c=.o)
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# for target example
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EX_SRC= main_{{ model.name }}.c
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EX_OBJ := $(EX_SRC:.c=.o)
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EX_EXE := $(EX_SRC:.c=)
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# for target example_sim
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EX_SIM_SRC= main_sim_{{ model.name }}.c
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EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
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EX_SIM_EXE := $(EX_SIM_SRC:.c=)
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# combine model, sim and ocp object files
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OBJ=
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OBJ+= $(MODEL_OBJ)
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{%- if solver_options.integrator_type != "DISCRETE" %}
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OBJ+= $(SIM_OBJ)
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{%- endif %}
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OBJ+= $(OCP_OBJ)
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EXTERNAL_DIR=
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EXTERNAL_LIB=
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{%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
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EXTERNAL_DIR+= {{ model_external_shared_lib_dir }}
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EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
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{%- endif %}
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INCLUDE_PATH = {{ acados_include_path }}
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LIB_PATH = {{ acados_lib_path }}
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# preprocessor flags for make's implicit rules
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{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
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CPPFLAGS += -DACADOS_WITH_QPOASES
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{%- endif %}
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{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
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CPPFLAGS += -DACADOS_WITH_OSQP
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{%- endif %}
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{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
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CPPFLAGS += -DACADOS_WITH_QPDUNES
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{%- endif %}
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CPPFLAGS+= -I$(INCLUDE_PATH)
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CPPFLAGS+= -I$(INCLUDE_PATH)/acados
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CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
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CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
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{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
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CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/
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{%- endif %}
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{# c-compiler flags #}
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# define the c-compiler flags for make's implicit rules
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CFLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
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# # Debugging
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# CFLAGS += -g3
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# linker flags
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LDFLAGS+= -L$(LIB_PATH)
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# link to libraries
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LDLIBS+= -lacados
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LDLIBS+= -lhpipm
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LDLIBS+= -lblasfeo
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LDLIBS+= -lm
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LDLIBS+= {{ link_libs }}
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# libraries
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LIBACADOS_SOLVER=libacados_solver_{{ model.name }}.so
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LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}.so
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LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so)
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# virtual targets
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.PHONY : all clean
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#all: clean example_sim example shared_lib
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{% if solver_options.integrator_type == "DISCRETE" -%}
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all: clean example
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shared_lib: ocp_shared_lib
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{%- else %}
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all: clean example_sim example
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shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
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{%- endif %}
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# some linker targets
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example: $(EX_OBJ) $(OBJ)
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$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
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example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
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$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
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{% if solver_options.integrator_type != "DISCRETE" -%}
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bundled_shared_lib: $(OBJ)
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$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
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{%- endif %}
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ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
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$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
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-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
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sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
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$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
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# Cython targets
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ocp_cython_c: ocp_shared_lib
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cython \
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-o acados_ocp_solver_pyx.c \
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-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
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$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
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-I {{ code_export_directory }} \
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ocp_cython_o: ocp_cython_c
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$(CC) $(ACADOS_FLAGS) -c -O2 \
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-fPIC \
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-o acados_ocp_solver_pyx.o \
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-I /usr/include/python3.8 \
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-I $(INCLUDE_PATH)/blasfeo/include/ \
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-I $(INCLUDE_PATH)/hpipm/include/ \
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-I $(INCLUDE_PATH) \
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-I {{ cython_include_dirs }} \
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acados_ocp_solver_pyx.c \
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ocp_cython: ocp_cython_o
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$(CC) $(ACADOS_FLAGS) -shared \
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-o acados_ocp_solver_pyx.so \
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-Wl,-rpath=$(LIB_PATH) \
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acados_ocp_solver_pyx.o \
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$(abspath .)/libacados_ocp_solver_{{ model.name }}.so \
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$(LDFLAGS) $(LDLIBS)
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{%- if os and os == "pc" %}
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clean:
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del \Q *.o 2>nul
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del \Q *.so 2>nul
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del \Q main_{{ model.name }} 2>nul
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clean_ocp_shared_lib:
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del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
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del \Q acados_solver_{{ model.name }}.o 2>nul
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clean_ocp_cython:
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del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
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del \Q acados_solver_{{ model.name }}.o 2>nul
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del \Q acados_ocp_solver_pyx.so 2>nul
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del \Q acados_ocp_solver_pyx.o 2>nul
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{%- else %}
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clean:
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$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
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$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
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$(RM) $(EX_EXE) $(EX_SIM_EXE)
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clean_ocp_shared_lib:
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$(RM) $(LIBACADOS_OCP_SOLVER)
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$(RM) $(OCP_OBJ)
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clean_ocp_cython:
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$(RM) libacados_ocp_solver_{{ model.name }}.so
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$(RM) acados_solver_{{ model.name }}.o
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$(RM) acados_ocp_solver_pyx.so
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$(RM) acados_ocp_solver_pyx.o
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|
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{%- endif %}
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