Autogenerated C/C++ code improvements and Makefile - Githubissues

alphaville / optimization-engine

Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support

https://alphaville.github.io/optimization-engine/

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Autogenerated C/C++ code improvements and Makefile #152

Closed alphaville closed 4 years ago

alphaville commented 4 years ago

PR to address #149

Main changes:

added an option in with_open_version so that one can compile using a local version of OpEn; this is very useful for developers or users who want to get the bleeding-edge version of OpEn from github. Example:

build_config = og.config.BuildConfiguration() \
    .with_build_mode(og.config.BuildConfiguration.DEBUG_MODE)\
    .with_open_version(local_path="path/to/optimization-engine")

As shown above, introduced two static variables in BuildConfiguration: DEBUG_MODE and RELEASE_MODE
When compiling with with_build_c_bindings() a CMakeLists file is generated. This allows the user to compile the auto-generated example file (example_optimizer.c) very easily. Here's an example:

cd /path/to/auto-generated/optimizer
cmake .
make
make run # to run the example
make clean # to remove executable and compiled files

The current version of opengen is 0.3.1 - bumped to 0.3.2-alpha.1.