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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(mpc_playground)
find_package(casadi REQUIRED)
find_package(Matplot++ REQUIRED)
#add_subdirectory(3rd-party/matplotplusplus)
find_package(pybind11 REQUIRED)
###############
# MPC example #
###############
add_executable(mpc_example
"src/mpc_interface.cpp"
"src/mpc_ms_ackermann.cpp"
)
add_executable(mpc_example_pybind
src/mpc_ms_ackermann_pybind.cpp
src/mpc_interface.cpp
include/mpc_playground/mpc_interface.hpp
)
target_include_directories(mpc_example
PUBLIC
"include"
)
target_include_directories(mpc_example_pybind
PUBLIC "include")
target_link_libraries(mpc_example
casadi
Matplot++::matplot
)
target_link_libraries(mpc_example_pybind
casadi
pybind11::embed
)
###############
# CasADi test #
###############
add_executable(casadi_test
"tests/casadi_test.cpp"
)
target_link_libraries(casadi_test
casadi
)
##################################
# CasADi IPOPT MUMPS solver test #
##################################
add_executable(casadi_test_ipopt_mumps
"tests/casadi_test_ipopt_mumps.cpp"
)
target_link_libraries(casadi_test_ipopt_mumps
casadi
)
#####################################
# CasADi IPOPT HSL MA27 solver test #
#####################################
add_executable(casadi_test_ipopt_hsl
"tests/casadi_test_ipopt_hsl.cpp"
)
target_link_libraries(casadi_test_ipopt_hsl
casadi
)