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markusgftmarkusgft
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adding findipopt.cmake
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‎.gitignore

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@@ -3,6 +3,7 @@ CMakeCache.txt
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*.cmake
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!clang-cxx-dev-tools.cmake
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!compilerSettings.cmake
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!FindIPOPT.cmake
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*.a
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*.o
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*.so

‎ct_optcon/CMakeLists.txt

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@@ -90,7 +90,7 @@ if(IPOPT_FOUND)
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add_definitions(${IPOPT_DEFINITIONS})
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message(STATUS "Found IPOPT - building with IPOPT support")
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set(IPOPT_LIBS ipopt) # dl mumps coinhsl lapack blas gfortran m quadmath coinmetis)
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endif(IPOPT_FOUND)
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endif()
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## include SNOPT -- todo SNOPT not tested in version 3.0.1, temporarily deactivated

‎ct_optcon/cmake/FindIPOPT.cmake

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#.rst:
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# FindIPOPT
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# ---------
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#
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# Try to locate the IPOPT library
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#
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# First tries to find the library in the standard search path. If this fails
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# it searches where the environmental varialbe IPOPT_DIR is pointing.
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# Set this to the folder in which you built IPOPT, e.g, in your ~/.bashrc:
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#
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# Result variables
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# ^^^^^^^^^^^^^^^^
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#
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# Create the following variables::
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#
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# IPOPT_INCLUDE_DIRS - Directories to include to use IPOPT
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# IPOPT_LIBRARIES - Default library to link against to use IPOPT
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# IPOPT_DEFINITIONS - Flags to be added to linker's options
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# IPOPT_LINK_FLAGS - Flags to be added to linker's options
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# IPOPT_FOUND - If false, don't try to use IPOPT
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#
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#=============================================================================
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# This find script is copied from https://github.com/robotology/idyntree.
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# Original copyright notice can be seen below:
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#=============================================================================
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# Copyright (C) 2008-2010 RobotCub Consortium
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# Copyright (C) 2016 iCub Facility - Istituto Italiano di Tecnologia
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# Authors: Ugo Pattacini <ugo.pattacini@iit.it>
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# Authors: Daniele E. Domenichelli <daniele.domenichelli@iit.it>
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#
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# Distributed under the OSI-approved BSD License (the "License");
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# see accompanying file Copyright.txt for details.
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#
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# This software is distributed WITHOUT ANY WARRANTY; without even the
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# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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# See the License for more information.
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#=============================================================================
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# (To distribute this file outside of YCM, substitute the full
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# License text for the above reference.)
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if(NOT WIN32)
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# First priority is finding the package using IPOPT_DIR if set
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if(DEFINED ENV{IPOPT_DIR})
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set(IPOPT_DIR $ENV{IPOPT_DIR} CACHE PATH "Path to IPOPT build directory")
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set(IPOPT_INCLUDE_DIRS ${IPOPT_DIR}/include/coin)
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find_library(IPOPT_LIBRARIES ipopt ${IPOPT_DIR}/lib
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${IPOPT_DIR}/lib/coin
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NO_DEFAULT_PATH)
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if(IPOPT_LIBRARIES)
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find_file(IPOPT_DEP_FILE ipopt_addlibs_cpp.txt ${IPOPT_DIR}/share/doc/coin/Ipopt
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${IPOPT_DIR}/share/coin/doc/Ipopt
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NO_DEFAULT_PATH)
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mark_as_advanced(IPOPT_DEP_FILE)
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if(IPOPT_DEP_FILE)
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# parse the file and acquire the dependencies
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file(READ ${IPOPT_DEP_FILE} IPOPT_DEP)
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string(REGEX REPLACE "-[^l][^ ]* " "" IPOPT_DEP ${IPOPT_DEP})
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string(REPLACE "-l" "" IPOPT_DEP ${IPOPT_DEP})
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string(REPLACE "\n" "" IPOPT_DEP ${IPOPT_DEP})
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string(REPLACE "ipopt" "" IPOPT_DEP ${IPOPT_DEP}) # remove any possible auto-dependency
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separate_arguments(IPOPT_DEP)
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# use the find_library command in order to prepare rpath correctly
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foreach(LIB ${IPOPT_DEP})
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find_library(IPOPT_SEARCH_FOR_${LIB} ${LIB} ${IPOPT_DIR}/lib
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${IPOPT_DIR}/lib/coin
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${IPOPT_DIR}/lib/coin/ThirdParty
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NO_DEFAULT_PATH)
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if(IPOPT_SEARCH_FOR_${LIB})
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# handle non-system libraries (e.g. coinblas)
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set(IPOPT_LIBRARIES ${IPOPT_LIBRARIES} ${IPOPT_SEARCH_FOR_${LIB}})
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else()
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# handle system libraries (e.g. gfortran)
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set(IPOPT_LIBRARIES ${IPOPT_LIBRARIES} ${LIB})
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endif()
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mark_as_advanced(IPOPT_SEARCH_FOR_${LIB})
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endforeach()
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endif()
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endif()
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set(IPOPT_DEFINITIONS "")
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# if IPOPT_DIR not set, try finding IPOPT through package manager
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else()
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find_package(PkgConfig QUIET)
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if(PKG_CONFIG_FOUND)
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if(IPOPT_FIND_VERSION)
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if(IPOPT_FIND_VERSION_EXACT)
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pkg_check_modules(_PC_IPOPT QUIET ipopt=${IPOPT_FIND_VERSION})
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else()
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pkg_check_modules(_PC_IPOPT QUIET ipopt>=${IPOPT_FIND_VERSION})
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endif()
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else()
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pkg_check_modules(_PC_IPOPT QUIET ipopt)
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endif()
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if(_PC_IPOPT_FOUND)
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set(IPOPT_INCLUDE_DIRS ${_PC_IPOPT_INCLUDE_DIRS} CACHE PATH "IPOPT include directory")
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set(IPOPT_DEFINITIONS ${_PC_IPOPT_CFLAGS_OTHER} CACHE STRING "Additional compiler flags for IPOPT")
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set(IPOPT_LIBRARIES "" CACHE STRING "IPOPT libraries" FORCE)
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foreach(_LIBRARY IN ITEMS ${_PC_IPOPT_LIBRARIES})
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find_library(${_LIBRARY}_PATH
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NAMES ${_LIBRARY}
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PATHS ${_PC_IPOPT_LIBRARY_DIRS})
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# Workaround for https://github.com/robotology/icub-main/issues/418
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if(${_LIBRARY}_PATH)
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list(APPEND IPOPT_LIBRARIES ${${_LIBRARY}_PATH})
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endif()
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endforeach()
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else()
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set(IPOPT_DEFINITIONS "")
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endif()
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endif()
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endif()
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set(IPOPT_LINK_FLAGS "")
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# Windows platforms
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else()
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include(SelectLibraryConfigurations)
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set(IPOPT_DIR $ENV{IPOPT_DIR} CACHE PATH "Path to IPOPT build directory")
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set(IPOPT_INCLUDE_DIRS ${IPOPT_DIR}/include/coin)
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find_library(IPOPT_IPOPT_LIBRARY_RELEASE libipopt ${IPOPT_DIR}/lib
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${IPOPT_DIR}/lib/coin
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NO_DEFAULT_PATH)
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find_library(IPOPT_IPOPT_LIBRARY_DEBUG libipoptD ${IPOPT_DIR}/lib
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${IPOPT_DIR}/lib/coin
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NO_DEFAULT_PATH)
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select_library_configurations(IPOPT_IPOPT)
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set(IPOPT_LIBRARIES ${IPOPT_IPOPT_LIBRARY})
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# Some old version of binary releases of IPOPT have Intel fortran
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# libraries embedded in the library, newer releases require them to
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# be explicitly linked.
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if(IPOPT_IPOPT_LIBRARY)
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get_filename_component(_MSVC_DIR "${CMAKE_LINKER}" DIRECTORY)
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# Find the lib.exe executable
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find_program(LIB_EXECUTABLE
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NAMES lib.exe
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HINTS "${_MSVC_BINDIR}"
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"C:/Program Files/Microsoft Visual Studio 10.0/VC/bin"
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"C:/Program Files (x86)/Microsoft Visual Studio 10.0/VC/bin"
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"C:/Program Files/Microsoft Visual Studio 11.0/VC/bin"
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"C:/Program Files (x86)/Microsoft Visual Studio 11.0/VC/bin"
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"C:/Program Files/Microsoft Visual Studio 12.0/VC/bin"
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"C:/Program Files (x86)/Microsoft Visual Studio 12.0/VC/bin"
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"C:/Program Files/Microsoft Visual Studio 14.0/VC/bin"
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"C:/Program Files (x86)/Microsoft Visual Studio 14.0/VC/bin"
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DOC "Path to the lib.exe executable")
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mark_as_advanced(LIB_EXECUTABLE)
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# backup PATH environment variable
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set(_path $ENV{PATH})
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# Add th MSVC "Common7/IDE" dir containing the dlls in the PATH when needed.
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get_filename_component(_MSVC_LIBDIR "${_MSVC_BINDIR}/../../Common7/IDE" ABSOLUTE)
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if(NOT EXISTS "${_MSVC_LIBDIR}")
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get_filename_component(_MSVC_LIBDIR "${_MSVC_BINDIR}/../../../Common7/IDE" ABSOLUTE)
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endif()
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if(EXISTS "${_MSVC_LIBDIR}")
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set(_MSVC_LIBDIR_FOUND 0)
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file(TO_CMAKE_PATH "$ENV{PATH}" _env_path)
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foreach(_dir ${_env_path})
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if("${_dir}" STREQUAL ${_MSVC_LIBDIR})
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set(_MSVC_LIBDIR_FOUND 1)
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endif()
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endforeach()
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if(NOT _MSVC_LIBDIR_FOUND)
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file(TO_NATIVE_PATH "${_MSVC_LIBDIR}" _MSVC_LIBDIR)
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set(ENV{PATH} "$ENV{PATH};${_MSVC_LIBDIR}")
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endif()
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endif()
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if(IPOPT_IPOPT_LIBRARY_RELEASE)
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set(_IPOPT_LIB ${IPOPT_IPOPT_LIBRARY_RELEASE})
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else()
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set(_IPOPT_LIB ${IPOPT_IPOPT_LIBRARY_DEBUG})
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endif()
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execute_process(COMMAND ${LIB_EXECUTABLE} /list "${_IPOPT_LIB}"
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OUTPUT_VARIABLE _lib_output)
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set(ENV{PATH} "${_path}")
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unset(_path)
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if(NOT "${_lib_output}" MATCHES "libifcoremd.dll")
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get_filename_component(_IPOPT_IPOPT_LIBRARY_DIR "${_IPOPT_LIB}" DIRECTORY)
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foreach(_lib ifconsol
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libifcoremd
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libifportmd
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libmmd
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libirc
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svml_dispmd)
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string(TOUPPER "${_lib}" _LIB)
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find_library(IPOPT_${_LIB}_LIBRARY_RELEASE ${_lib} ${_IPOPT_IPOPT_LIBRARY_DIR})
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find_library(IPOPT_${_LIB}_LIBRARY_DEBUG ${_lib}d ${_IPOPT_IPOPT_LIBRARY_DIR})
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select_library_configurations(IPOPT_${_LIB})
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list(APPEND IPOPT_LIBRARIES ${IPOPT_${_LIB}_LIBRARY})
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endforeach()
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endif()
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endif()
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set(IPOPT_DEFINITIONS "")
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if(MSVC)
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set(IPOPT_LINK_FLAGS "/NODEFAULTLIB:libcmt.lib;libcmtd.lib")
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else()
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set(IPOPT_LINK_FLAGS "")
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endif()
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endif()
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mark_as_advanced(IPOPT_INCLUDE_DIRS
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IPOPT_LIBRARIES
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IPOPT_DEFINITIONS
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IPOPT_LINK_FLAGS)
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(IPOPT DEFAULT_MSG IPOPT_LIBRARIES)

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