ethz-adrl · awinkler · Jul 14, 2018 · Jul 14, 2018 · Jul 14, 2018 · Jul 14, 2018
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,8 +8,9 @@ project(ifopt VERSION 2.0.2)
 ###########
 include(GNUInstallDirs) # for correct library locations across platforms
 set(config_package_location "share/${PROJECT_NAME}/cmake") # for .cmake find-scripts installs
-set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)          # so installed solver libraries link to IFOPT/SNOPT                                          
-set(CMAKE_INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib) # so installed solver libraries link to libifopt_core.so  
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)             # so installed solver libraries link to IFOPT/SNOPT                                          
+set(CMAKE_INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)    # so installed solver libraries link to libifopt_core.so  
+set(IFOPT_INSTALL_BINDIR ${CMAKE_INSTALL_LIBDIR}/ifopt) # replicate default for catkin installs
 
 IF(NOT CMAKE_BUILD_TYPE MATCHES Release)
   message(STATUS "CMAKE_BUILD_TYPE not set to Release -> impacts performance")

diff --git a/README.md b/README.md
@@ -12,7 +12,7 @@
 
 *A modern, light-weight, [Eigen]-based C++ interface to Nonlinear Programming solvers, such as [Ipopt] and [Snopt].*
 
-The optimization problem to solve is e.g. defined as:
+An example nonlinear optimization problem to solve is defined as:
 
 <img align="center" height="100" src="https://i.imgur.com/YGi4LrR.png"/>
 
@@ -23,7 +23,7 @@ Related variables and constraints are implemented (grouped) in *independent sets
 
 More Features:  
 :heavy_check_mark: [Eigen] allows inuitive formulation and fast performance due to sparse matrix exploitation.  
-:heavy_check_mark: exports cmake scripts to easily <find_package(ifopt)> in your project.  
+:heavy_check_mark: exports cmake scripts to easily `find_package(ifopt)` in your project.  
 :heavy_check_mark: [catkin] integration (optional).  
 :heavy_check_mark: light-weight (~[2k lines of code](https://i.imgur.com/NCPJsSw.png)) makes it easy to use and extend.  
 
@@ -32,14 +32,14 @@ More Features:
 ## Dependencies
 Name | Min. Ver. | Description | Install
 --- | --- | --- | --- |
-[CMake] | v3.1.0 | C++ build tool | ```sudo apt-get install cmake```
+[CMake] | v3.1.0 | C++ build tool | ```sudo apt-get install cmake``` [(upgrade)](https://askubuntu.com/questions/829310/how-to-upgrade-cmake-in-ubuntu#answer-908211)
 [Eigen] | v3.2.0 | Library for linear algebra | ```sudo apt-get install libeigen3-dev```
 [Ipopt] | v3.11.9 | NLP solver (Interior-Point) |```sudo apt-get install coinor-libipopt-dev```
 ([Snopt]) |  7.4  |  NLP solver (SQP) | non-free
 
-* Quick Install: 
+Quick Install: 
 
-  ``` sudo apt-get install cmake libeigen3-dev coinor-libipopt-dev```
+``` sudo apt-get install cmake libeigen3-dev coinor-libipopt-dev```
 
 If you want to link to a local installation of Ipopt or to Snopt, see the [doxygen documentation](http://docs.ros.org/kinetic/api/ifopt/html/).
 
@@ -55,14 +55,6 @@ If you want to link to a local installation of Ipopt or to Snopt, see the [doxyg
   # sudo xargs rm < install_manifest.txt # in case you want to uninstall the above
   ```
 
-* Test: Make sure everything installed correctly by running
-  ```bash
-  make test
-  ```
-  You should see `#1 ifopt_core-test....Passed` as well as one test for each installed solver.
-  In case you want to see the actual iterations of the solver, run ``ctest -V``. 
-
-
 * Use: To use in your cmake project, see this minimal *CMakeLists.txt*:
   ```cmake
   find_package(ifopt)
@@ -75,20 +67,13 @@ If you want to link to a local installation of Ipopt or to Snopt, see the [doxyg
 ## Building with catkin
 * Install: Download [catkin] or [catkin command line tools], then:
   ```bash
-  cd catkin_workspace/src
+  cd catkin_ws/src
   git clone https://github.com/ethz-adrl/ifopt.git
   cd ..
   catkin_make_isolated # `catkin build` if you are using catkin command-line tools 
   source ./devel/setup.bash
   ```
-
-* Test: To run the code, navigate to your `catkin_ws/build` folder and execute 
-  the binaries
-  ```bash
-  ./ifopt/ifopt_core/ifopt_core-test
-  ./ifopt/ifopt_ipopt/ifopt_ipopt-example
-  ```
-
+
 * Use: Include in your catkin project by adding to your *CMakeLists.txt* 
   ```cmake
   find_package(catkin COMPONENTS ifopt) 
@@ -101,28 +86,42 @@ If you want to link to a local installation of Ipopt or to Snopt, see the [doxyg
     <depend>ifopt</depend>
   </package>
   ```
+
+## Test 
+Navigate to your build folder in which the `Makefile` resides, which depends
+on how you built the code:
+```bash
+cd ifopt/build  # plain cmake 
+cd catkin_ws/build_isolated/ifopt/devel # catkin_make_isolated
+cd catkin_ws/build/ifopt # catkin build
+```
+Make sure everything installed correctly by running the `test` target
+```bash
+make test
+```
+You should see `ifopt_ipopt-example....Passed` (or snopt if installed) as well as `ifopt_core-test` if
+[gtest] is installed.
 
+If you have IPOPT installed and linked correctly, you can also run the [binary example](ifopt_ipopt/test/ex_test_ipopt.cc) 
+directly (again, first navigate to the build folder with the `Makefile`)
+```bash
+make test ARGS='-R ifopt_ipopt-example -V'
+```
+Output:
+```bash
+1.0 0.0
+```
 
-## Example
 Each set of variables, costs and constraints are formulated by one C++ object
 purely through Eigen vectors and matrices and independent from any specific solver.
-Although this [example](ifopt_core/test/ifopt/test_vars_constr_cost.h) adds just one, 
+Although the above [example](ifopt_core/test/ifopt/test_vars_constr_cost.h) adds just one, 
 multiple sets of variables or constraints can be added to the NLP and ifopt manages 
 the overall variable vector and jacobian, so each set can be implemented independent of 
 the others. A more involved problem definition with multiple sets 
 of variables and constraints, taken from [towr] can be seen in the following: 
 
 <img align="center" height="500" src="https://i.imgur.com/4yhohZF.png"/>
 
-If you have IPOPT installed and linked correctly, you can run this binary [example](ifopt_ipopt/test/ex_test_ipopt.cc) through
-```bash
-./build/ifopt_ipopt/ifopt_ipopt-example # or `rosrun ifopt ifopt_ipopt-example `
-```
-Output:
-```bash
-1.0 0.0
-```
-
 ## Authors 
 [Alexander W. Winkler](https://awinkler.github.io/) - Initial Work/Maintainer
 
@@ -166,12 +165,12 @@ To report bugs, request features or ask questions, please have a look at [CONTRI
 [Eigen]: http://eigen.tuxfamily.org
 [Ipopt]: https://projects.coin-or.org/Ipopt
 [Snopt]: http://ampl.com/products/solvers/solvers-we-sell/snopt/
-[catkin]: http://wiki.ros.org/catkin
+[catkin]: http://wiki.ros.org/catkin/Tutorials/create_a_workspace
 [catkin command line tools]: http://catkin-tools.readthedocs.io/en/latest/installing.html
 [towr]: https://github.com/ethz-adrl/towr
 [catkin tools]: http://catkin-tools.readthedocs.org/
 [ROS]: http://www.ros.org
 [rviz]: http://wiki.ros.org/rviz
-[Fa2png]: http://fa2png.io/r/font-awesome/link/
+[gtest]: https://github.com/google/googletest
 
 
diff --git a/ifopt_core/CMakeLists.txt b/ifopt_core/CMakeLists.txt
@@ -28,10 +28,11 @@ target_compile_features(${LIB_CORE}
 ## Install ##
 #############
 # store in export-set for find-script generation
-install(TARGETS ${LIB_CORE} EXPORT ${LIB_CORE}-targets
+install(
+  TARGETS ${LIB_CORE}
+  EXPORT  ${LIB_CORE}-targets
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
 )
 # Copy header files to usr/local/include/ifopt/*
 install(
@@ -43,7 +44,8 @@ install(
   DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/ifopt
 )
 # Generate the find scripts
-install(EXPORT ${LIB_CORE}-targets
+install(
+  EXPORT ${LIB_CORE}-targets
   FILE ${LIB_CORE}-targets.cmake
   NAMESPACE ifopt::
   DESTINATION ${config_package_location}
@@ -65,4 +67,9 @@ if (TARGET GTest::GTest) # only build when modern target exists
       GTest::GTest GTest::Main
   )    
   add_test(${LIB_CORE}-test  ${LIB_CORE}-test)
+
+  install(
+    TARGETS ${LIB_CORE}-test
+    RUNTIME DESTINATION ${IFOPT_INSTALL_BINDIR}
+  )
 endif()
diff --git a/ifopt_ipopt/CMakeLists.txt b/ifopt_ipopt/CMakeLists.txt
@@ -1,5 +1,8 @@
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
 find_package(IPOPT 3.11.9 REQUIRED)
+# previous IPOPT versions have a bug which causes mumps segfault:
+# https://bugs.launchpad.net/ubuntu/+source/coinor-ipopt/+bug/1167585
+
 
 ###########
 ## Build ##
@@ -47,10 +50,10 @@ add_test(${LIB_IPOPT}-example ${LIB_IPOPT}-example)
  # Copy library files to usr/local/lib/libifopt_ipopt.so
 install(
   TARGETS ${LIB_IPOPT} ${LIB_IPOPT}-example
-  EXPORT ${LIB_IPOPT}-targets
+  EXPORT  ${LIB_IPOPT}-targets
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  RUNTIME DESTINATION ${IFOPT_INSTALL_BINDIR}
   INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
 )
 # Copy header files to usr/local/include/ifopt/*

diff --git a/ifopt_ipopt/cmake/FindIPOPT.cmake b/ifopt_ipopt/cmake/FindIPOPT.cmake
@@ -40,52 +40,11 @@
 # (To distribute this file outside of YCM, substitute the full
 #  License text for the above reference.)
 
-
 if(NOT WIN32)
-  # On non Windows systems we use PkgConfig to find IPOPT
-  find_package(PkgConfig QUIET)
-  if(PKG_CONFIG_FOUND)
-
-    if(IPOPT_FIND_VERSION)
-      if(IPOPT_FIND_VERSION_EXACT)
-        pkg_check_modules(_PC_IPOPT QUIET ipopt=${IPOPT_FIND_VERSION})
-      else()
-        pkg_check_modules(_PC_IPOPT QUIET ipopt>=${IPOPT_FIND_VERSION})
-      endif()
-    else()
-      pkg_check_modules(_PC_IPOPT QUIET ipopt)
-    endif()
-
-
-    if(_PC_IPOPT_FOUND)
-      set(IPOPT_INCLUDE_DIRS ${_PC_IPOPT_INCLUDE_DIRS} CACHE PATH "IPOPT include directory")
-      set(IPOPT_DEFINITIONS ${_PC_IPOPT_CFLAGS_OTHER} CACHE STRING "Additional compiler flags for IPOPT")
-      set(IPOPT_LIBRARIES "" CACHE STRING "IPOPT libraries" FORCE)
-      foreach(_LIBRARY IN ITEMS ${_PC_IPOPT_LIBRARIES})
-        find_library(${_LIBRARY}_PATH
-                     NAMES ${_LIBRARY}
-                     PATHS ${_PC_IPOPT_LIBRARY_DIRS})
-        # Workaround for https://github.com/robotology/icub-main/issues/418
-        if(${_LIBRARY}_PATH)
-          list(APPEND IPOPT_LIBRARIES ${${_LIBRARY}_PATH})
-        endif()
-      endforeach()
-    else()
-      set(IPOPT_DEFINITIONS "")
-    endif()
-
-  endif()
-
-  set(IPOPT_LINK_FLAGS "")
 
-  # If pkg-config fails, try to find the package using IPOPT_DIR
-  if(NOT _PC_IPOPT_FOUND)
-    set(IPOPT_DIR_TEST $ENV{IPOPT_DIR})
-    if(IPOPT_DIR_TEST)
-      set(IPOPT_DIR $ENV{IPOPT_DIR} CACHE PATH "Path to IPOPT build directory")
-    else()
-      set(IPOPT_DIR /usr            CACHE PATH "Path to IPOPT build directory")
-    endif()
+  # First priority is finding the package using IPOPT_DIR if set
+  if(DEFINED ENV{IPOPT_DIR})
+    set(IPOPT_DIR $ENV{IPOPT_DIR} CACHE PATH "Path to IPOPT build directory")
 
     set(IPOPT_INCLUDE_DIRS ${IPOPT_DIR}/include/coin)
     find_library(IPOPT_LIBRARIES ipopt ${IPOPT_DIR}/lib
@@ -104,7 +63,7 @@ if(NOT WIN32)
         string(REGEX REPLACE "-[^l][^ ]* " "" IPOPT_DEP ${IPOPT_DEP})
         string(REPLACE "-l"                "" IPOPT_DEP ${IPOPT_DEP})
         string(REPLACE "\n"                "" IPOPT_DEP ${IPOPT_DEP})
-        string(REPLACE "ipopt"             "" IPOPT_DEP ${IPOPT_DEP})       # remove any possible auto-dependency
+        string(REPLACE "ipopt"             "" IPOPT_DEP ${IPOPT_DEP})  # remove any possible auto-dependency
         separate_arguments(IPOPT_DEP)
 
         # use the find_library command in order to prepare rpath correctly
@@ -126,8 +85,44 @@ if(NOT WIN32)
     endif()
 
     set(IPOPT_DEFINITIONS "")
-    set(IPOPT_LINK_FLAGS "")
+
+
+  # if IPOPT_DIR not set, try finding IPOPT through package manager  
+  else()
+    find_package(PkgConfig QUIET)
+    if(PKG_CONFIG_FOUND)
+
+      if(IPOPT_FIND_VERSION)
+        if(IPOPT_FIND_VERSION_EXACT)
+          pkg_check_modules(_PC_IPOPT REQUIRED ipopt=${IPOPT_FIND_VERSION})
+        else()
+          pkg_check_modules(_PC_IPOPT REQUIRED ipopt>=${IPOPT_FIND_VERSION})
+        endif()
+      else()
+        pkg_check_modules(_PC_IPOPT REQUIRED ipopt)
+      endif()
+
+
+      if(_PC_IPOPT_FOUND)
+        set(IPOPT_INCLUDE_DIRS ${_PC_IPOPT_INCLUDE_DIRS} CACHE PATH "IPOPT include directory")
+        set(IPOPT_DEFINITIONS ${_PC_IPOPT_CFLAGS_OTHER} CACHE STRING "Additional compiler flags for IPOPT")
+        set(IPOPT_LIBRARIES "" CACHE STRING "IPOPT libraries" FORCE)
+        foreach(_LIBRARY IN ITEMS ${_PC_IPOPT_LIBRARIES})
+          find_library(${_LIBRARY}_PATH
+                       NAMES ${_LIBRARY}
+                       PATHS ${_PC_IPOPT_LIBRARY_DIRS})
+          # Workaround for https://github.com/robotology/icub-main/issues/418
+          if(${_LIBRARY}_PATH)
+            list(APPEND IPOPT_LIBRARIES ${${_LIBRARY}_PATH})
+          endif()
+        endforeach()
+      else()
+        set(IPOPT_DEFINITIONS "")
+      endif()
+    endif()
   endif()
+
+  set(IPOPT_LINK_FLAGS "")
 
 # Windows platforms
 else()

diff --git a/ifopt_snopt/CMakeLists.txt b/ifopt_snopt/CMakeLists.txt
@@ -31,16 +31,16 @@ if(${SNOPT_v76})
 endif()
 
 
-
-
 #############
 ## Install ##
 #############
  # Copy library files to usr/local/lib/libifopt_snopt.so
-install(TARGETS ${LIB_SNOPT} EXPORT ${LIB_SNOPT}-targets
+install(
+  TARGETS ${LIB_SNOPT} ${LIB_SNOPT}-example
+  EXPORT ${LIB_SNOPT}-targets
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  RUNTIME DESTINATION ${IFOPT_INSTALL_BINDIR}
 )
 # Copy header files to usr/local/include/ifopt/*
 install(DIRECTORY include/ifopt/