From 3e798de1b40cccf9d5529bdb44a758417e3c2d6e Mon Sep 17 00:00:00 2001
From: Jonathan Frey <jonathanpaulfrey@gmail.com>
Date: Thu, 15 Aug 2019 10:22:46 +0200
Subject: [PATCH] matlab_mex: add hpipm include

---
 interfaces/acados_matlab/ocp_compile_mex.m | 16 ++++++++++------
 interfaces/acados_matlab/ocp_set_ext_fun.m |  6 ++++--
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/interfaces/acados_matlab/ocp_compile_mex.m b/interfaces/acados_matlab/ocp_compile_mex.m
index 63313f04bb..30cc4d2175 100644
--- a/interfaces/acados_matlab/ocp_compile_mex.m
+++ b/interfaces/acados_matlab/ocp_compile_mex.m
@@ -10,6 +10,7 @@ function ocp_compile_mex(opts)
 acados_interfaces_include = ['-I', fullfile(acados_folder, 'interfaces')];
 external_include = ['-I', fullfile(acados_folder, 'external')];
 blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
+hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
 acados_lib_path = ['-L', fullfile(acados_folder, 'lib')];
 
 mex_names = { ...
@@ -51,20 +52,25 @@ function ocp_compile_mex(opts)
 	setenv('CFLAGS', cflags_tmp);
 end
 
+
 for ii=1:length(mex_files)
 	disp(['compiling ', mex_files{ii}])
 	if is_octave()
 %		mkoctfile -p CFLAGS
 		if (strcmp(opts.qp_solver, 'full_condensing_qpoases'))
-			mex(acados_include, acados_interfaces_include, external_include, blasfeo_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo', '-lqpOASES_e', mex_files{ii})
+			mex(acados_include, acados_interfaces_include, external_include, blasfeo_include, hpipm_include,...
+			    acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo', '-lqpOASES_e', mex_files{ii})
 		else
-			mex(acados_include, acados_interfaces_include, external_include, blasfeo_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
+			mex(acados_include, acados_interfaces_include, external_include, blasfeo_include, hpipm_include,...
+			    acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
 		end
 	else
 		if (strcmp(opts.qp_solver, 'full_condensing_qpoases'))
-			mex(mex_flags, 'CFLAGS=$CFLAGS -std=c99 -fopenmp -DACADOS_WITH_QPOASES', acados_include, acados_interfaces_include, external_include, blasfeo_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo', '-lqpOASES_e', mex_files{ii})
+			mex(mex_flags, 'CFLAGS=$CFLAGS -std=c99 -fopenmp -DACADOS_WITH_QPOASES', acados_include, acados_interfaces_include, external_include, blasfeo_include, hpipm_include,...
+			    acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo', '-lqpOASES_e', mex_files{ii})
 		else
-			mex(mex_flags, 'CFLAGS=$CFLAGS -std=c99 -fopenmp', acados_include, acados_interfaces_include, external_include, blasfeo_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
+			mex(mex_flags, 'CFLAGS=$CFLAGS -std=c99 -fopenmp', acados_include, acados_interfaces_include, external_include, blasfeo_include, hpipm_include,...
+			    acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
 		end
 	end
 end
@@ -82,5 +88,3 @@ function ocp_compile_mex(opts)
 end
 
 
-
-
diff --git a/interfaces/acados_matlab/ocp_set_ext_fun.m b/interfaces/acados_matlab/ocp_set_ext_fun.m
index 513fc35b10..4664d05015 100644
--- a/interfaces/acados_matlab/ocp_set_ext_fun.m
+++ b/interfaces/acados_matlab/ocp_set_ext_fun.m
@@ -13,6 +13,7 @@
 acados_interfaces_include = ['-I' fullfile(acados_folder, 'interfaces')];
 external_include = ['-I' fullfile(acados_folder, 'external')];
 blasfeo_include = ['-I' fullfile(acados_folder, 'external' , 'blasfeo', 'include')];
+hpipm_include = ['-I' fullfile(acados_folder, 'external' , 'hpipm', 'include')];
 acados_lib_path = ['-L' fullfile(acados_folder, 'lib')];
 acados_matlab_lib_path = ['-L' fullfile(acados_folder, 'interfaces', 'acados_matlab')];
 model_lib_path = ['-L', opts_struct.output_dir];
@@ -384,7 +385,9 @@
 			cflags_tmp = [cflags_tmp, ' -DN0=', num2str(phase_start{ii})];
 			cflags_tmp = [cflags_tmp, ' -DN1=', num2str(phase_end{ii})];
 			setenv('CFLAGS', cflags_tmp);
-			mex(acados_include, acados_interfaces_include, external_include, blasfeo_include, acados_lib_path, acados_matlab_lib_path, model_lib_path, '-lacados', '-lhpipm', '-lblasfeo', ['-l', model_name], mex_files{1});
+			mex(acados_include, acados_interfaces_include, external_include, blasfeo_include,...
+				hpipm_include, acados_lib_path, acados_matlab_lib_path, model_lib_path, '-lacados',...
+				 '-lhpipm', '-lblasfeo', ['-l', model_name], mex_files{1});
 		else
 			mex(mex_flags, 'CFLAGS=$CFLAGS -std=c99 -fopenmp', ['-DSETTER=', setter{ii}], ['-DSET_FIELD=', set_fields{ii}], ['-DMEX_FIELD=', mex_fields{ii}], ['-DFUN_NAME=', fun_names{ii}], ['-DPHASE=', num2str(phase{ii})], ['-DN0=', num2str(phase_start{ii})], ['-DN1=', num2str(phase_end{ii})], acados_include, acados_interfaces_include, external_include, blasfeo_include, acados_lib_path, acados_matlab_lib_path, model_lib_path, '-lacados', '-lhpipm', '-lblasfeo', ['-l', model_name], mex_files{1}); % TODO
 		end
@@ -414,7 +417,6 @@
 %ocp_set_ext_fun_tmp(C_ocp, C_ocp_ext_fun, model_struct, opts_struct);
 
 %C_ocp_ext_fun
-%keyboard
 
 return;