Use qp_oases as dynamic link lib.

.travis.yml

@@ -16,7 +16,7 @@ before_script:
     - if [ ! -d "${HOME}/.cache" ]; then mkdir ${HOME}/.cache; fi
     - cp scripts/AGREEMENT.txt ${HOME}/.cache/.apollo_agreement.txt
 script:
-    - ./docker/scripts/dev_start.sh dev-x86_64-20171025_1428-ci
+    - ./docker/scripts/dev_start.sh dev-x86_64-20171103_2113-ci
     - ./apollo_docker.sh ${JOB}
     - rm -rf "${HOME}/.cache/bazel/_bazel_${USER}/install"
 notifications:

WORKSPACE.in

@@ -138,15 +138,6 @@ new_http_archive(
     url = "https://github.com/jbeder/yaml-cpp/archive/yaml-cpp-0.5.3.zip",
 )
 
-# qpOASES
-new_http_archive(
-    name = "qp_oases",
-    build_file = "third_party/qp_oases.BUILD",
-    sha256 = "e70b49586b58b8f5fd348e951f3c3094ed0ad371a96097a499f343a7aeec7dbe",
-    strip_prefix = "qp-oases-3.2.1-1",
-    url = "https://github.com/startcode/qp-oases/archive/v3.2.1-1.zip",
-)
-
 #IpOpt
 new_local_repository(
     name = "ipopt",

apollo_docker.sh

@@ -52,7 +52,7 @@ function start_build_docker() {
 }
 
 function gen_docker() {
-  IMG="apolloauto/apollo:run-${MACHINE_ARCH}-20171025_1428"
+  IMG="apolloauto/apollo:run-${MACHINE_ARCH}-20171103_2113"
   RELEASE_DIR=${HOME}/.cache/release
   RELEASE_NAME="${DOCKER_REPO}:release-${MACHINE_ARCH}-${TIME}"
   DEFAULT_NAME="${DOCKER_REPO}:release-${MACHINE_ARCH}-latest"

docker/scripts/dev_start.sh

@@ -18,7 +18,7 @@
 
 VERSION=""
 ARCH=$(uname -m)
-VERSION_X86_64="dev-x86_64-20171025_1428"
+VERSION_X86_64="dev-x86_64-20171103_2113"
 VERSION_AARCH64="dev-aarch64-20170927_1111"
 if [[ $# == 1 ]];then
     VERSION=$1

modules/common/math/qp_solver/BUILD

@@ -41,7 +41,9 @@ cc_library(
         "//modules/common:log",
         "//modules/common/math/qp_solver:qp_solver_gflags",
         "@eigen//:eigen",
-        "@qp_oases//:qp_oases",
+    ],
+    linkopts = [
+        "-lqp_oases",
     ],
 )
 

modules/common/math/qp_solver/active_set_qp_solver.h

@@ -22,7 +22,7 @@
 #ifndef MODULES_COMMON_MATH_QP_SOLVER_ACTIVE_SET_QP_SOLVER_H_
 #define MODULES_COMMON_MATH_QP_SOLVER_ACTIVE_SET_QP_SOLVER_H_
 
-#include "qpOASES/include/qpOASES.hpp"
+#include <qpOASES.hpp>
 
 #include "modules/common/math/qp_solver/qp_solver.h"
 

modules/planning/math/smoothing_spline/spline_1d_generator.h

@@ -48,11 +48,11 @@
 #ifndef MODULES_PLANNING_MATH_SMOOTHING_SPLINE_SPLINE_1D_GENERATOR_H_
 #define MODULES_PLANNING_MATH_SMOOTHING_SPLINE_SPLINE_1D_GENERATOR_H_
 
+#include <qpOASES.hpp>
+
 #include <memory>
 #include <vector>
 
-#include "qpOASES/include/qpOASES.hpp"
-
 #include "modules/common/math/qp_solver/qp_solver.h"
 #include "modules/planning/math/smoothing_spline/spline_1d.h"
 #include "modules/planning/math/smoothing_spline/spline_1d_constraint.h"

modules/planning/math/smoothing_spline/spline_2d_solver.h

@@ -21,11 +21,11 @@
 #ifndef MODULES_PLANNING_SMOOTHING_SPLINE_SPLINE_2D_SOLVER_H_
 #define MODULES_PLANNING_SMOOTHING_SPLINE_SPLINE_2D_SOLVER_H_
 
+#include <qpOASES.hpp>
+
 #include <memory>
 #include <vector>
 
-#include "qpOASES/include/qpOASES.hpp"
-
 #include "modules/common/math/qp_solver/qp_solver.h"
 #include "modules/planning/math/smoothing_spline/spline_2d.h"
 #include "modules/planning/math/smoothing_spline/spline_2d_constraint.h"

third_party/qp_oases.BUILD

-licenses(["notice"])
-
-exports_files(["googletest/LICENSE"])
-
-cc_library(
-    name = "qp_oases",
-    srcs = [
-        "src/BLASReplacement.cpp",
-        "src/Bounds.cpp",
-        "src/Constraints.cpp",
-        "src/Flipper.cpp",
-        "src/Indexlist.cpp",
-        "src/LAPACKReplacement.cpp",
-        "src/Matrices.cpp",
-        "src/MessageHandling.cpp",
-        "src/OQPinterface.cpp",
-        "src/Options.cpp",
-        "src/QProblem.cpp",
-        "src/QProblemB.cpp",
-        "src/SQProblem.cpp",
-        "src/SQProblemSchur.cpp",
-        "src/SolutionAnalysis.cpp",
-        "src/SparseSolver.cpp",
-        "src/SubjectTo.cpp",
-        "src/Utils.cpp",
-    ],
-    hdrs = [
-        "include/qpOASES.hpp",
-        "include/qpOASES/Bounds.hpp",
-        "include/qpOASES/Bounds.ipp",
-        "include/qpOASES/Constants.hpp",
-        "include/qpOASES/ConstraintProduct.hpp",
-        "include/qpOASES/Constraints.hpp",
-        "include/qpOASES/Constraints.ipp",
-        "include/qpOASES/Flipper.hpp",
-        "include/qpOASES/Indexlist.hpp",
-        "include/qpOASES/Indexlist.ipp",
-        "include/qpOASES/LapackBlasReplacement.hpp",
-        "include/qpOASES/Matrices.hpp",
-        "include/qpOASES/MessageHandling.hpp",
-        "include/qpOASES/MessageHandling.ipp",
-        "include/qpOASES/Options.hpp",
-        "include/qpOASES/QProblem.hpp",
-        "include/qpOASES/QProblem.ipp",
-        "include/qpOASES/QProblemB.hpp",
-        "include/qpOASES/QProblemB.ipp",
-        "include/qpOASES/SQProblem.hpp",
-        "include/qpOASES/SQProblem.ipp",
-        "include/qpOASES/SQProblemSchur.hpp",
-        "include/qpOASES/SQProblemSchur.ipp",
-        "include/qpOASES/SparseSolver.hpp",
-        "include/qpOASES/SubjectTo.hpp",
-        "include/qpOASES/SubjectTo.ipp",
-        "include/qpOASES/Types.hpp",
-        "include/qpOASES/UnitTesting.hpp",
-        "include/qpOASES/Utils.hpp",
-        "include/qpOASES/Utils.ipp",
-        "include/qpOASES/extras/OQPinterface.hpp",
-        "include/qpOASES/extras/SolutionAnalysis.hpp",
-        "include/qpOASES/extras/SolutionAnalysis.ipp",
-    ],
-    copts = [
-        "-Wall",
-        "-pedantic",
-        "-Wshadow",
-        "-Wfloat-equal",
-        "-O3",
-        "-Wconversion",
-        "-Wsign-conversion",
-        "-fPIC",
-        "-DLINUX",
-        "-DSOLVER_NONE",
-        "-D__NO_COPYRIGHT__",
-    ],
-    include_prefix = "qpOASES",
-    includes = [
-        ".",
-        "include",
-        "src",
-    ],
-    visibility = ["//visibility:public"],
-)