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# SPDX-FileCopyrightText: 2012-2021 Istituto Italiano di Tecnologia (IIT)
# SPDX-FileCopyrightText: 2008-2010 RobotCub Consortium
# SPDX-License-Identifier: BSD-3-Clause
#[=======================================================================[.rst:
FindIPOPT
---------
Try to locate the IPOPT library
On non Windows systems, use pkg-config to try to locate the library,
if this fails then try to locate the library in the directory pointed
by the IPOPT_DIR environment variable.
On Windows systems, just try to find the library using the IPOPT_DIR
environment variable.
Create the following variables::
IPOPT_INCLUDE_DIRS - Directories to include to use IPOPT
IPOPT_LIBRARIES - Default library to link against to use IPOPT
IPOPT_DEFINITIONS - Flags to be added to linker's options
IPOPT_LINK_FLAGS - Flags to be added to linker's options
IPOPT_FOUND - If false, don't try to use IPOPT
#]=======================================================================]
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()
find_path(IPOPT_INCLUDE_DIRS NAMES IpIpoptApplication.hpp PATH_SUFFIXES coin coin-or PATHS ${IPOPT_DIR}/include/coin)
find_library(IPOPT_LIBRARIES ipopt ${IPOPT_DIR}/lib
${IPOPT_DIR}/lib/coin)
if(IPOPT_LIBRARIES)
find_file(IPOPT_DEP_FILE ipopt_addlibs_cpp.txt ${IPOPT_DIR}/share/doc/coin/Ipopt
${IPOPT_DIR}/share/coin/doc/Ipopt)
mark_as_advanced(IPOPT_DEP_FILE)
if(IPOPT_DEP_FILE)
# parse the file and acquire the dependencies
file(READ ${IPOPT_DEP_FILE} IPOPT_DEP)
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
separate_arguments(IPOPT_DEP)
# use the find_library command in order to prepare rpath correctly
foreach(LIB ${IPOPT_DEP})
find_library(IPOPT_SEARCH_FOR_${LIB} ${LIB} ${IPOPT_DIR}/lib
${IPOPT_DIR}/lib/coin
${IPOPT_DIR}/lib/coin/ThirdParty)
if(IPOPT_SEARCH_FOR_${LIB})
# handle non-system libraries (e.g. coinblas)
set(IPOPT_LIBRARIES ${IPOPT_LIBRARIES} ${IPOPT_SEARCH_FOR_${LIB}})
else()
# handle system libraries (e.g. gfortran)
set(IPOPT_LIBRARIES ${IPOPT_LIBRARIES} ${LIB})
endif()
mark_as_advanced(IPOPT_SEARCH_FOR_${LIB})
endforeach()
endif()
endif()
set(IPOPT_DEFINITIONS "")
set(IPOPT_LINK_FLAGS "")
endif()
# Windows platforms
else()
include(SelectLibraryConfigurations)
set(IPOPT_DIR $ENV{IPOPT_DIR} CACHE PATH "Path to IPOPT build directory")
find_path(IPOPT_INCLUDE_DIRS NAMES IpIpoptApplication.hpp PATH_SUFFIXES coin coin-or PATHS ${IPOPT_DIR}/include/coin)
# See https://github.com/coin-or/Ipopt/blob/releases/3.13.3/src/Interfaces/Ipopt.java#L167 for a possible library names
find_library(IPOPT_IPOPT_LIBRARY_RELEASE NAMES libipopt ipopt ipopt-3 ipopt-0 libipopt-3 libipopt-0
HINTS ${IPOPT_DIR}/lib ${IPOPT_DIR}/lib/coin)
find_library(IPOPT_IPOPT_LIBRARY_DEBUG NAMES libipoptD ipoptD ipoptD-3 ipoptD-0 libipoptD-3 libipoptD-0
HINTS ${IPOPT_DIR}/lib ${IPOPT_DIR}/lib/coin)
select_library_configurations(IPOPT_IPOPT)
set(IPOPT_LIBRARIES ${IPOPT_IPOPT_LIBRARY})
# Some old version of binary releases of IPOPT have Intel fortran
# libraries embedded in the library, newer releases require them to
# be explicitly linked.
if(IPOPT_IPOPT_LIBRARY)
get_filename_component(_MSVC_DIR "${CMAKE_LINKER}" DIRECTORY)
# Find the lib.exe executable
find_program(LIB_EXECUTABLE
NAMES lib.exe
HINTS "${_MSVC_BINDIR}"
"C:/Program Files/Microsoft Visual Studio 10.0/VC/bin"
"C:/Program Files (x86)/Microsoft Visual Studio 10.0/VC/bin"
"C:/Program Files/Microsoft Visual Studio 11.0/VC/bin"
"C:/Program Files (x86)/Microsoft Visual Studio 11.0/VC/bin"
"C:/Program Files/Microsoft Visual Studio 12.0/VC/bin"
"C:/Program Files (x86)/Microsoft Visual Studio 12.0/VC/bin"
"C:/Program Files/Microsoft Visual Studio 14.0/VC/bin"
"C:/Program Files (x86)/Microsoft Visual Studio 14.0/VC/bin"
DOC "Path to the lib.exe executable")
mark_as_advanced(LIB_EXECUTABLE)
# backup PATH environment variable
set(_path $ENV{PATH})
# Add th MSVC "Common7/IDE" dir containing the dlls in the PATH when needed.
get_filename_component(_MSVC_LIBDIR "${_MSVC_BINDIR}/../../Common7/IDE" ABSOLUTE)
if(NOT EXISTS "${_MSVC_LIBDIR}")
get_filename_component(_MSVC_LIBDIR "${_MSVC_BINDIR}/../../../Common7/IDE" ABSOLUTE)
endif()
if(EXISTS "${_MSVC_LIBDIR}")
set(_MSVC_LIBDIR_FOUND 0)
file(TO_CMAKE_PATH "$ENV{PATH}" _env_path)
foreach(_dir ${_env_path})
if("${_dir}" STREQUAL ${_MSVC_LIBDIR})
set(_MSVC_LIBDIR_FOUND 1)
endif()
endforeach()
if(NOT _MSVC_LIBDIR_FOUND)
file(TO_NATIVE_PATH "${_MSVC_LIBDIR}" _MSVC_LIBDIR)
set(ENV{PATH} "$ENV{PATH};${_MSVC_LIBDIR}")
endif()
endif()
if(IPOPT_IPOPT_LIBRARY_RELEASE)
set(_IPOPT_LIB ${IPOPT_IPOPT_LIBRARY_RELEASE})
else()
set(_IPOPT_LIB ${IPOPT_IPOPT_LIBRARY_DEBUG})
endif()
execute_process(COMMAND ${LIB_EXECUTABLE} /list "${_IPOPT_LIB}"
OUTPUT_VARIABLE _lib_output)
set(ENV{PATH} "${_path}")
unset(_path)
if(NOT "${_lib_output}" MATCHES "libifcoremd.dll")
get_filename_component(_IPOPT_IPOPT_LIBRARY_DIR "${_IPOPT_LIB}" DIRECTORY)
foreach(_lib ifconsol
libifcoremd
libifportmd
libmmd
libirc
svml_dispmd)
string(TOUPPER "${_lib}" _LIB)
find_library(IPOPT_${_LIB}_LIBRARY_RELEASE ${_lib} ${_IPOPT_IPOPT_LIBRARY_DIR})
find_library(IPOPT_${_LIB}_LIBRARY_DEBUG ${_lib}d ${_IPOPT_IPOPT_LIBRARY_DIR})
select_library_configurations(IPOPT_${_LIB})
if(NOT "${IPOPT_${_LIB}_LIBRARY}" MATCHES "NOTFOUND$")
list(APPEND IPOPT_LIBRARIES ${IPOPT_${_LIB}_LIBRARY})
endif()
endforeach()
endif()
endif()
set(IPOPT_DEFINITIONS "")
if(MSVC)
set(IPOPT_LINK_FLAGS "/NODEFAULTLIB:libcmt.lib;libcmtd.lib")
else()
set(IPOPT_LINK_FLAGS "")
endif()
endif()
mark_as_advanced(IPOPT_INCLUDE_DIRS
IPOPT_LIBRARIES
IPOPT_DEFINITIONS
IPOPT_LINK_FLAGS)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(IPOPT DEFAULT_MSG IPOPT_LIBRARIES)
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