Change for ros integration

Author: astomodynamics

CMakeLists.txt

@@ -96,44 +96,24 @@ if (CDDP-CPP_BUILD_TESTS)
   endif()
 endif()
 
-# Add the include directory
-include_directories(include/cddp)
+# # Add the include directory
+# include_directories(include/cddp)
 
 # Add the main library
-# message(STATUS "CDDP-cpp: Adding CDDP-cpp library...")
-# add_library(cddp src/cddp_core/CDDPProblem.cpp)
-# target_link_libraries(cddp PUBLIC Eigen3::Eigen PRIVATE osqp-cpp ${CMAKE_DL_LIBS})
-# target_include_directories(cddp PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>")
-# message(STATUS "CDDP-cpp: Added CDDP-cpp library.")
-# # Eigen test (Placeholder for now, will be removed later on)
-# add_executable(cddp_eigen_test test/test_eigen.cpp)
-# target_link_libraries(cddp_eigen_test Eigen3::Eigen)
+message(STATUS "CDDP-cpp: Adding CDDP-cpp library...")
+add_library(cddp src/cddp_core/CDDPProblem.cpp)
+target_link_libraries(cddp PUBLIC 
+    Eigen3::Eigen 
+    PRIVATE osqp-cpp ${CMAKE_DL_LIBS})
+target_include_directories(cddp PUBLIC 
+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>" 
+    include/cddp)
+message(STATUS "CDDP-cpp: Added CDDP-cpp library.")
+
+# Eigen test (Placeholder for now, will be removed later on)
+add_executable(cddp_eigen_test test/test_eigen.cpp)
+target_link_libraries(cddp_eigen_test Eigen3::Eigen)
 
 # LOCAL TEST
 add_subdirectory(test)
 
-#################### install ####################
-add_library(${PROJECT_NAME} INTERFACE)
-
-target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17)
-
-target_include_directories(${PROJECT_NAME} INTERFACE
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-install(TARGETS ${PROJECT_NAME}
-  EXPORT ${PROJECT_NAME}-config
-)
-
-install(EXPORT ${PROJECT_NAME}-config
-  NAMESPACE ${PROJECT_NAME}::
-  DESTINATION lib/cmake/${PROJECT_NAME}
-)
-
-install(
-  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
-  DESTINATION include
-)
-
-add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})

include/cddp/cddp_core/CDDPProblem.hpp

@@ -27,6 +27,14 @@ struct CDDPOptions {
     double active_set_coeff = 1.0;        // Coefficient for active set method
     double trust_region_radius = 1.0;      // Coefficient for trust region method
     double trust_region_factor = 0.90;      // Coefficient for trust region method
+    
+    // Line search method
+    // int line_search_type = 0;             // 0 for Armijo, 1 for Wolfe
+    double line_search_coeff = 1e-0;      // Coefficient for line search
+    double line_search_factor = 0.5;      // Factor for line search
+    int line_search_max_iterations = 11; // Maximum iterations for line search
+
+
     int regularization_type = 0;          // 0 or 1 for different regularization types
     double regularization_x = 1e-6;       // Regularization for state
     double regularization_u = 1e-6;       // Regularization for control

include/cddp/model/CartPole.hpp

@@ -3,7 +3,7 @@
 
 #include "Eigen/Dense"
 #include <vector>
-#include "cddp_core/DynamicalSystem.hpp"
+#include "../cddp_core/DynamicalSystem.hpp"
 
 namespace cddp {
 

include/cddp/model/DoubleIntegrator.hpp

@@ -3,7 +3,7 @@
 
 #include "Eigen/Dense"
 #include <vector>
-#include "cddp_core/DynamicalSystem.hpp" // Include the missing header file
+#include "../cddp_core/DynamicalSystem.hpp" // Include the missing header file
 
 namespace cddp {
 

include/cddp/model/DubinsCar.hpp

@@ -3,7 +3,7 @@
 
 #include "Eigen/Dense"
 #include <vector>
-#include "cddp_core/DynamicalSystem.hpp" 
+#include "../cddp_core/DynamicalSystem.hpp" 
 
 namespace cddp {
 

include/cddp/model/Pendulum.hpp

@@ -3,7 +3,7 @@
 
 #include "Eigen/Dense"
 #include <vector>
-#include "cddp_core/DynamicalSystem.hpp"
+#include "../cddp_core/DynamicalSystem.hpp"
 
 namespace cddp {
 

src/cddp_core/CDDPProblem.cpp

@@ -4,7 +4,6 @@
 #include "Eigen/Sparse"
 #include "cddp_core/CDDPProblem.hpp" 
 #include "osqp++.h"
-
 /* 
 TODO
 - Add circle constraint