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Change for ros integration
1 parent 5bd7a6e commit 60133ed

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7 files changed

+27
-40
lines changed

7 files changed

+27
-40
lines changed

CMakeLists.txt

Lines changed: 15 additions & 35 deletions
Original file line numberDiff line numberDiff line change
@@ -96,44 +96,24 @@ if (CDDP-CPP_BUILD_TESTS)
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endif()
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endif()
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# Add the include directory
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include_directories(include/cddp)
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# # Add the include directory
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# include_directories(include/cddp)
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# Add the main library
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# message(STATUS "CDDP-cpp: Adding CDDP-cpp library...")
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# add_library(cddp src/cddp_core/CDDPProblem.cpp)
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# target_link_libraries(cddp PUBLIC Eigen3::Eigen PRIVATE osqp-cpp ${CMAKE_DL_LIBS})
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# target_include_directories(cddp PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>")
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# message(STATUS "CDDP-cpp: Added CDDP-cpp library.")
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# # Eigen test (Placeholder for now, will be removed later on)
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# add_executable(cddp_eigen_test test/test_eigen.cpp)
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# target_link_libraries(cddp_eigen_test Eigen3::Eigen)
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message(STATUS "CDDP-cpp: Adding CDDP-cpp library...")
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add_library(cddp src/cddp_core/CDDPProblem.cpp)
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target_link_libraries(cddp PUBLIC
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Eigen3::Eigen
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PRIVATE osqp-cpp ${CMAKE_DL_LIBS})
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target_include_directories(cddp PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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include/cddp)
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message(STATUS "CDDP-cpp: Added CDDP-cpp library.")
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# Eigen test (Placeholder for now, will be removed later on)
114+
add_executable(cddp_eigen_test test/test_eigen.cpp)
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target_link_libraries(cddp_eigen_test Eigen3::Eigen)
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# LOCAL TEST
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add_subdirectory(test)
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#################### install ####################
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add_library(${PROJECT_NAME} INTERFACE)
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target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17)
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target_include_directories(${PROJECT_NAME} INTERFACE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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install(TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}-config
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)
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install(EXPORT ${PROJECT_NAME}-config
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NAMESPACE ${PROJECT_NAME}::
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DESTINATION lib/cmake/${PROJECT_NAME}
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)
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install(
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DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
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DESTINATION include
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)
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add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})

include/cddp/cddp_core/CDDPProblem.hpp

Lines changed: 8 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -27,6 +27,14 @@ struct CDDPOptions {
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double active_set_coeff = 1.0; // Coefficient for active set method
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double trust_region_radius = 1.0; // Coefficient for trust region method
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double trust_region_factor = 0.90; // Coefficient for trust region method
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// Line search method
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// int line_search_type = 0; // 0 for Armijo, 1 for Wolfe
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double line_search_coeff = 1e-0; // Coefficient for line search
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double line_search_factor = 0.5; // Factor for line search
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int line_search_max_iterations = 11; // Maximum iterations for line search
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int regularization_type = 0; // 0 or 1 for different regularization types
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double regularization_x = 1e-6; // Regularization for state
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double regularization_u = 1e-6; // Regularization for control

include/cddp/model/CartPole.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
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44
#include "Eigen/Dense"
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#include <vector>
6-
#include "cddp_core/DynamicalSystem.hpp"
6+
#include "../cddp_core/DynamicalSystem.hpp"
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namespace cddp {
99

include/cddp/model/DoubleIntegrator.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
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#include "Eigen/Dense"
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#include <vector>
6-
#include "cddp_core/DynamicalSystem.hpp" // Include the missing header file
6+
#include "../cddp_core/DynamicalSystem.hpp" // Include the missing header file
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namespace cddp {
99

include/cddp/model/DubinsCar.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
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#include "Eigen/Dense"
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#include <vector>
6-
#include "cddp_core/DynamicalSystem.hpp"
6+
#include "../cddp_core/DynamicalSystem.hpp"
77

88
namespace cddp {
99

include/cddp/model/Pendulum.hpp

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
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#include "Eigen/Dense"
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#include <vector>
6-
#include "cddp_core/DynamicalSystem.hpp"
6+
#include "../cddp_core/DynamicalSystem.hpp"
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namespace cddp {
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src/cddp_core/CDDPProblem.cpp

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,6 @@
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#include "Eigen/Sparse"
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#include "cddp_core/CDDPProblem.hpp"
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#include "osqp++.h"
7-
87
/*
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TODO
109
- Add circle constraint

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