Fix matplotlibcpp seg-fault with qpOASES

.gitignore

@@ -9,3 +9,4 @@ docs/
 cmake-build-release/
 cmake-build-debug/
 cmake-build-relwithdebinfo/
+tmp/

CMakeLists.txt

@@ -7,27 +7,29 @@ set(CMAKE_CXX_FLAGS "-O3")
 #set(CMAKE_CXX_FLAGS "-Wall -Os")
 SET(CMAKE_BUILD_TYPE Release)
 
-find_package(PythonLibs REQUIRED)
-include_directories(${PYTHON_INCLUDE_DIRS})
-add_definitions(-DMATPLOTLIBCPP_PYTHON_HEADER=Python.h)
 
 find_package(OsqpEigen)
 find_package(Eigen3)
 
+find_package(PythonLibs 3.8 REQUIRED)
+include_directories(${PYTHON_INCLUDE_DIRS})
+
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})
 include_directories(
         include
         third_party/cvxgen
         third_party/qpOASES
         third_party/qpOASES/include
+        /usr/include/python3.8
+        /usr/lib/python3.8/site-packages/numpy/core/include/
+        third_party/matplotlib-cpp
 )
 
 set(INCLUDE_DIRS
         include
         third_party/cvxgen
         third_party/qpOASES
         third_party/qpOASES/include
-        third_party/matplotlib-cpp # TODO learn why this is working and not include_directories
         )
 
 set(QUADPROG_SRCS
@@ -52,8 +54,9 @@ add_subdirectory(third_party)
 set(CMAKE_BUILD_TYPE Debug)
 
 add_library(nonlinear_controls ${CONTROL_SRCS} ${QUADPROG_SRCS})
-target_link_libraries(nonlinear_controls qpOASES_cpp epigraph  OsqpEigen::OsqpEigen ${PYTHON_LIBRARIES})
+target_link_libraries(nonlinear_controls qpOASES epigraph  OsqpEigen::OsqpEigen ${PYTHON_LIBRARIES})
 target_include_directories(nonlinear_controls PUBLIC . ${INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/include)
+set_target_properties(nonlinear_controls PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
 
 # tests
 add_executable(test_main tests/test_nlc.cpp)
@@ -69,4 +72,3 @@ target_link_libraries(osqpMPCExample nonlinear_controls)
 add_executable(example_point_mass examples/mpc_point_mass.cpp)
 target_link_libraries(example_point_mass nonlinear_controls)
 
-

examples/mpc_point_mass.cpp

@@ -164,7 +164,6 @@ void run_simulation(const int horizon, SOLVER_TYPE solve_type_) {
 }
 
 int main(int argc, char *argv[]) {
-
   int N{5};
   SOLVER_TYPE solver_type_{SOLVER_TYPE::EPIGRAPH};
 
@@ -194,3 +193,4 @@ int main(int argc, char *argv[]) {
   std::cout << "N: " << N << " solver type " << int(solver_type_) << std::endl;
   run_simulation(N, solver_type_);
 }
+

include/controls/mpc_qpoases.hpp

@@ -2,8 +2,6 @@
 #define _NONLINEAR_CONTROLS_MPC_QPOASES_HPP_
 
 #include "common/qpoases_eigen.hpp"
-#include <deque>
-#include <vector>
 #include "controls/linear_mpc.hpp"
 #include "common/log.hpp"
 

include/dynamics/point_mass.hpp

@@ -1,12 +1,15 @@
+#ifndef _NONLINEAR_CONTROLS_DYNAMICS_POINT_MASS_HPP_
+#define _NONLINEAR_CONTROLS_DYNAMICS_POINT_MASS_HPP_
+
 #include <eigen3/Eigen/Dense>
 #include <iostream>
 #include <vector>
 
 //#include "nonlinear_controls.h"
 #include "matplotlibcpp.h"
 
-namespace nonlinear_controls {
 namespace plt = matplotlibcpp;
+namespace nonlinear_controls {
 
 class PointMass3D {
 public:
@@ -129,4 +132,5 @@ class PointMass3D {
 
 };
 
-}
+} // namespace nonlinear controls
+#endif // _NONLINEAR_CONTROLS_DYNAMICS_POINT_MASS_HPP_

setup.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+mkdir tmp
+cd tmp
+
+git clone --recursive https://github.com/osqp/osqp
+git clone --recursive https://github.com/embotech/ecos.git
+git clone --recursive https://github.com/robotology/osqp-eigen.git
+
+cd osqp
+mkdir build && cd build
+cmake -G "Unix Makefiles" ..
+cmake --build .
+sudo cmake --build . --target install
+
+cd ../../ecos
+mkdir build && cd build
+cmake ..
+make
+sudo make install
+
+cd ../../osqp-eigen
+mkdir build && cd build
+cmake ..
+make
+sudo make install

third_party/CMakeLists.txt

@@ -1,27 +1,8 @@
-#add_subdirectory(qpOASES)
-set(qpOASES_SRC_DIR qpOASES)
-set(qpOASES_SRCS
-        ${qpOASES_SRC_DIR}/src/BLASReplacement.cpp
-        ${qpOASES_SRC_DIR}/src/Bounds.cpp
-        ${qpOASES_SRC_DIR}/src/Constraints.cpp
-        ${qpOASES_SRC_DIR}/src/Flipper.cpp
-        ${qpOASES_SRC_DIR}/src/Indexlist.cpp
-        ${qpOASES_SRC_DIR}/src/LAPACKReplacement.cpp
-        ${qpOASES_SRC_DIR}/src/Matrices.cpp
-        ${qpOASES_SRC_DIR}/src/MessageHandling.cpp
-        ${qpOASES_SRC_DIR}/src/Options.cpp
-        ${qpOASES_SRC_DIR}/src/OQPinterface.cpp
-        ${qpOASES_SRC_DIR}/src/QProblemB.cpp
-        ${qpOASES_SRC_DIR}/src/QProblem.cpp
-        ${qpOASES_SRC_DIR}/src/SolutionAnalysis.cpp
-        ${qpOASES_SRC_DIR}/src/SparseSolver.cpp
-        ${qpOASES_SRC_DIR}/src/SQProblem.cpp
-        ${qpOASES_SRC_DIR}/src/SQProblemSchur.cpp
-        ${qpOASES_SRC_DIR}/src/SubjectTo.cpp
-        ${qpOASES_SRC_DIR}/src/Utils.cpp
-        )
-add_library(qpOASES_cpp ${qpOASES_SRCS})
-target_include_directories(qpOASES_cpp PUBLIC . ${qpOASES_SRC_DIR}/include)
+set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
+set(QPOASES_AVOID_LA_NAMING_CONFLICTS ON)
+add_subdirectory(qpOASES)
+
+add_subdirectory(matplotlib-cpp)
 include_directories(matplotlib-cpp)
 
 set(ENABLE_OSQP TRUE)