qpdunes / qpdunes-dev

Private development repository for qpDUNES

qpDUNES-dev

Private development repository for qpDUNES

+=================================================================+

INSTALLATION:

1. build the qpDUNES source code from the qpDUNES root directory:

   cd [qpDUNES-dir] make

SOLVE A QP:

1. go to examples directory:

   cd [qpDUNES-dir]/examples

2. build the examples:

   make

3. run an example of your choice

   ./example1

INSTALLATION WITH CMAKE:

mkdir build
cd build
cmake -DQPDUNES_SIMPLE_BOUNDS_ONLY:BOOL=OFF
make
make install

after this you can run test, optionally:

make test

+=================================================================+

qpdunes-dev's Issues

qpDUNES delivers wrong results when bounds are set to 'inf' in MATLAB interface

Please use a large number (internally qpDUNES uses 1e12 as the default value for infinity) instead, and avoid the use of MATLAB's builtin values 'inf', 'nan', etc.

Wiki needed

Hi, is there any info about how to call the function which is supported in matlab or any further description about the parameters?

Travis-CI and Appveyor continuos integration setup

Set up continuos integration

• Linux and OS X: http://travis-ci.org
• Windows: http://www.appveyor.com

For starters just compilation, later on, running examples (with test). One day unit-testing as well.

A feasible QP problem can not be solved after other QPs had been solved.

To reproduce, run the example code in the issue6 branch, `examples/test_issue_6.c'. The output is:

[qpDUNES] ←[91mERROR in ..\..\src\dual_qp.c:1760: ←[0m
          Backtracking line search: Deceeded minimum step size.
          Itertation 11
          alpha = 1.000e-012
          alphaMin = 0.000e+000
          normDeltaLambda = 5.941e-005
          minimumProgress = 6.207e-016
          last objVal = -3.985530886191e-002
          objValIncumbet = -3.985530886191e-002
[qpDUNES] ←[91mERROR in ..\..\src\dual_qp.c:264: ←[0m
          Search direction is not an ascent direction. QP could not be solved.

The same QP problem can be solved with MATLAB quadprog (see examples/issue6_test.m).

The appearance of this issue seems to depend on the pre-history of solver calls. If the same QP is the very first one after qpDUNES_setup(), it is solved successfully. To check it, uncomment #define SKIP on line 4 in examples/test_issue_6.c.

Writing a wrapper for JuMP

I originally opened the same issue there but that was the wrong place.

Hello,

i sometimes wrap existing C interfaces of solvers to make them available from the JuMP modeling language in Julia.
This would allow easy use of your solver by people and other solvers in the JuMP ecosystem.
This would require me to:

• Find a reproducible (cross platform) way to build binaries
• Probably call the C interface from Julia
• Hook up the Julia version of your C Interface to the algebraic modeling language
• Maintain this code base

Since this is would require work on my behalf, i would like to ask some questions:

• Would exposing your solver to generic QP/NLP interface even make sense?
• The solver seems to solve diagonal+upper diagonal block matrices. Are those blocks assumed dense?
• What integration schemes do you recommend?
• Can you also handle cyclic constraints like occurring in boundary value problems in a circle or know length (limit) cycles in ODEs?

In the long term i would be quiet interested to add DE constraints to JuMP however this solver would be used as an QP/NLP solver first.

SEGFAULT in example3_affine_mpc

To reproduce: run example3_affine_mpc

Unhandled exception at 0x000000013F9CB4A4 in example3_affine_mpc.exe: 0xC0000005: Access violation reading location 0xFFFFFFFFFFFFFFFF.

Happens in setup_mpc.c, line 729:

*qpObjConst = 0.;

Call stack:

>   example3_affine_mpc.exe!mpcDUNES_initLtv(mpcProblem_t * const mpcProblem, const double * const H_, const double * const g_, const double * const C_, const double * const c_, const double * const zLow_, const double * const zUpp_, const double * const D_, const double * const dLow_, const double * const dUpp_, const double * const zRef_) Line 729 C
    example3_affine_mpc.exe!main() Line 247 C++

qpObjConst is initialized to mpcProblem->qpObjConst in line 660, but mpcProblem->qpObjConst contains an unitialized value:

mpcProblem->qpObjConst = 0xcccccccccccccccc {???}

MSVC build errors

The project does not build with MSVC. Reasons:

1. gcc-specific compiler options are used without checking actual compiler in CMakeLists.txt
2. <sys/time.h> is absent on Windows
3. Missing const specifiers in example2_affine.c
4. Misplaced/missing "#ifdef **cplusplus extern "C""
5. __MEASURE_TIMINGS** explicitly defined in qp/types.h, QPDUNES_MEASURE_TIMINGS ignored.

"Unknown sparsity type of QP hessian" error if a dense Hessian is specified

If a dense Hessian is specified and no extra qpOptions set, the following error occurs:

[qpDUNES] ←[91mERROR in ..\..\src\stage_qp_solver_clipping.c:269: ←[0m
          Unknown sparsity type of QP hessian
[qpDUNES] ←[91mERROR in ..\..\src\dual_qp.c:268: ←[0m
          Could not determine step length.

The error is generated in directQpSolver_saturateVector(). H->sparsityType is QPDUNES_DENSE, and the default case of the switch statement raises the error.

Can't make in MATLAB

I tried to build qpDUNES-dev in MATLAB, but get the error:

MEXOBJS =

'qpDUNES'
'mpcDUNES'

cmd =

mex -v COPTIMFLAGS="$COPTIMFLAGS -O3" -output qpDUNES -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc -largeArrayDims -D__cplusplus -D__MATLAB__ -cxx -O -DWIN32 qpDUNES.cpp ../..//externals/qpOASES-3.0beta/src/BLASReplacement.cpp ../..//externals/qpOASES-3.0beta/src/LAPACKReplacement.cpp ../..//externals/qpOASES-3.0beta/src/LoggedSQProblem.cpp ../..//externals/qpOASES-3.0beta/src/SQProblem.cpp ../..//externals/qpOASES-3.0beta/src/QProblem.cpp ../..//externals/qpOASES-3.0beta/src/QProblemB.cpp ../..//externals/qpOASES-3.0beta/src/Bounds.cpp ../..//externals/qpOASES-3.0beta/src/Constraints.cpp ../..//externals/qpOASES-3.0beta/src/SubjectTo.cpp ../..//externals/qpOASES-3.0beta/src/Indexlist.cpp ../..//externals/qpOASES-3.0beta/src/Flipper.cpp ../..//externals/qpOASES-3.0beta/src/Utils.cpp ../..//externals/qpOASES-3.0beta/src/Options.cpp ../..//externals/qpOASES-3.0beta/src/Matrices.cpp ../..//externals/qpOASES-3.0beta/src/MessageHandling.cpp ../../src/stage_qp_solver_clipping.c ../../src/stage_qp_solver_qpoases.cpp ../../src/qpdunes_utils.c ../../src/dual_qp.c ../../src/matrix_vector.c ../../src/setup_qp.c ../../interfaces/mpc/setup_mpc.c

Verbose mode is on.
... Looking for compiler 'Microsoft Visual C++ 2013 Professional' ...
... Looking for registry setting 'HKLM\SOFTWARE\Microsoft\VisualStudio\SxS\VS7' 12.0 ...No.
... Looking for registry setting 'HKCU\SOFTWARE\Microsoft\VisualStudio\SxS\VS7' 12.0 ...No.
... Looking for registry setting 'HKLM\SOFTWARE\Wow6432Node\Microsoft\VisualStudio\SxS\VS7' 12.0 ...Yes ('C:\Program Files (x86)\Microsoft Visual Studio 12.0').
... Looking for file 'C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\bin\amd64\cl.exe' ...Yes.
... Looking for folder 'C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC' ...Yes.
... Looking for registry setting 'HKLM\SOFTWARE\Microsoft\Microsoft SDKs\Windows\v8.1' InstallationFolder ...No.
... Looking for registry setting 'HKCU\SOFTWARE\Microsoft\Microsoft SDKs\Windows\v8.1' InstallationFolder ...No.
... Looking for registry setting 'HKLM\SOFTWARE\Wow6432Node\Microsoft\Microsoft SDKs\Windows\v8.1' InstallationFolder ...Yes ('C:\Program Files (x86)\Windows Kits\8.1').
... Looking for registry setting 'HKLM\SOFTWARE\Microsoft\VisualStudio\SxS\VS7' 12.0 ...No.
... Looking for registry setting 'HKCU\SOFTWARE\Microsoft\VisualStudio\SxS\VS7' 12.0 ...No.
... Looking for registry setting 'HKLM\SOFTWARE\Wow6432Node\Microsoft\VisualStudio\SxS\VS7' 12.0 ...Yes ('C:\Program Files (x86)\Microsoft Visual Studio 12.0').
... Looking for registry setting 'HKLM\SOFTWARE\Microsoft\VisualStudio\SxS\VC7' 12.0 ...No.
... Looking for registry setting 'HKCU\SOFTWARE\Microsoft\VisualStudio\SxS\VC7' 12.0 ...No.
... Looking for registry setting 'HKLM\SOFTWARE\Wow6432Node\Microsoft\VisualStudio\SxS\VC7' 12.0 ...Yes ('C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC').
... Looking for environment variable 'VS120COMNTOOLS' ...Yes ('C:\Program Files (x86)\Microsoft Visual Studio 12.0\Common7\Tools').
... Looking for file 'C:\Program Files (x86)\Microsoft Visual Studio 12.0\Common7\IDE\devenv.exe' ...Yes.
... Looking for registry setting 'HKLM\SOFTWARE\Microsoft\VisualStudio\SxS\VS7' 12.0 ...No.
... Looking for registry setting 'HKCU\SOFTWARE\Microsoft\VisualStudio\SxS\VS7' 12.0 ...No.
... Looking for registry setting 'HKLM\SOFTWARE\Wow6432Node\Microsoft\VisualStudio\SxS\VS7' 12.0 ...Yes ('C:\Program Files (x86)\Microsoft Visual Studio 12.0').
... Looking for file 'C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\vcvarsall.bat' ...Yes.
... Looking for folder 'C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC' ...Yes.
Found installed compiler 'Microsoft Visual C++ 2013 Professional'.
Set PATH = C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\Bin\amd64;C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\Bin\VCPackages;C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC..\Common7\IDE;C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC..\Common7\Tools;C:\Program Files (x86)\Windows Kits\8.1\Bin\x64;C:\Program Files (x86)\Windows Kits\8.1\Bin\x86;;C:\Perl64\site\bin;C:\Perl64\bin;C:\ProgramData\Oracle\Java\javapath;C:\Program Files\IBM\ILOG\CPLEX_Studio1261\opl\bin\x64_win64;C:\Program Files\IBM\ILOG\CPLEX_Studio1261\opl\oplide;C:\Program Files\IBM\ILOG\CPLEX_Studio1261\cplex\bin\x64_win64;C:\Program Files\IBM\ILOG\CPLEX_Studio1261\cpoptimizer\bin\x64_win64;C:\WINDOWS\system32;C:\WINDOWS;C:\WINDOWS\System32\Wbem;C:\WINDOWS\System32\WindowsPowerShell\v1.0;C:\Program Files (x86)\NVIDIA Corporation\PhysX\Common;C:\Program Files\OpenVPN\bin;C:\MATLAB\R2015b\bin;C:\MATLAB\runtime\win64;C:\MATLAB\bin;C:\MATLAB\polyspace\bin;C:\Program Files (x86)\Windows Kits\8.1\Windows Performance Toolkit;C:\Program Files\Microsoft SQL Server\110\Tools\Binn;C:\Program Files (x86)\Microsoft SDKs\TypeScript\1.0;C:\Program Files\doxygen\bin;C:\Program Files\MiKTeX 2.9\miktex\bin\x64;C:\Program Files (x86)\Graphviz2.38\bin
Set INCLUDE = C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\INCLUDE;C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\ATLMFC\INCLUDE;C:\Program Files (x86)\Windows Kits\8.1\include\shared;C:\Program Files (x86)\Windows Kits\8.1\include\um;C:\Program Files (x86)\Windows Kits\8.1\include\winrt;C:\MATLAB\R2015b\extern\include;
Set LIB = C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\Lib\amd64;C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\ATLMFC\Lib\amd64;C:\Program Files (x86)\Windows Kits\8.1\lib\winv6.3\um\x64;C:\MATLAB\R2015b\lib\win64;
Set LIBPATH = C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\Lib\amd64;C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\ATLMFC\Lib\amd64;

Options file details

Compiler location: C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\..\
Options file: C:\Users\loved\AppData\Roaming\MathWorks\MATLAB\R2015b\mex_C++_win64.xml
CMDLINE200 : link /nologo /manifest  /DLL  /EXPORT:mexFunction D:\Temp\mex_4409866547178_7976\qpDUNES.obj D:\Temp\mex_4409866547178_7976\BLASReplacement.obj D:\Temp\mex_4409866547178_7976\LAPACKReplacement.obj D:\Temp\mex_4409866547178_7976\LoggedSQProblem.obj D:\Temp\mex_4409866547178_7976\SQProblem.obj D:\Temp\mex_4409866547178_7976\QProblem.obj D:\Temp\mex_4409866547178_7976\QProblemB.obj D:\Temp\mex_4409866547178_7976\Bounds.obj D:\Temp\mex_4409866547178_7976\Constraints.obj D:\Temp\mex_4409866547178_7976\SubjectTo.obj D:\Temp\mex_4409866547178_7976\Indexlist.obj D:\Temp\mex_4409866547178_7976\Flipper.obj D:\Temp\mex_4409866547178_7976\Utils.obj D:\Temp\mex_4409866547178_7976\Options.obj D:\Temp\mex_4409866547178_7976\Matrices.obj D:\Temp\mex_4409866547178_7976\MessageHandling.obj D:\Temp\mex_4409866547178_7976\stage_qp_solver_clipping.obj D:\Temp\mex_4409866547178_7976\stage_qp_solver_qpoases.obj D:\Temp\mex_4409866547178_7976\qpdunes_utils.obj D:\Temp\mex_4409866547178_7976\dual_qp.obj D:\Temp\mex_4409866547178_7976\matrix_vector.obj D:\Temp\mex_4409866547178_7976\setup_qp.obj D:\Temp\mex_4409866547178_7976\setup_mpc.obj  /LIBPATH:"C:\MATLAB\R2015b\extern\lib\win64\microsoft" libmx.lib libmex.lib libmat.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /out:C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.mexw64
CMDLINE250 : mt -outputresource:C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.mexw64;2 -manifest C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.mexw64.manifest
CMDLINE300 : del C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.exp C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.lib C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.mexw64.manifest C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.ilk
COMPILER : cl
COMPFLAGS : /Zp8 /GR /W3 /EHs /nologo /MD
COMPDEFINES : /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE
MATLABMEX :  /DMATLAB_MEX_FILE
OPTIMFLAGS : /O2 /Oy- /DNDEBUG
INCLUDE : -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include"
DEBUGFLAGS : /Z7
LINKER : link
LINKFLAGS : /nologo /manifest 
LINKTYPE : /DLL
LINKEXPORT : /EXPORT:mexFunction
LINKLIBS : /LIBPATH:"C:\MATLAB\R2015b\extern\lib\win64\microsoft" libmx.lib libmex.lib libmat.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib
LINKDEBUGFLAGS : /debug /PDB:"C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.mexw64.pdb"
LINKOPTIMFLAGS : 
OBJEXT : .obj
LDEXT : .mexw64
SETENV : set COMPILER=cl 
            set COMPFLAGS=/c /Zp8 /GR /W3 /EHs /nologo /MD /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE  /DMATLAB_MEX_FILE 
            set OPTIMFLAGS=/O2 /Oy- /DNDEBUG 
            set DEBUGFLAGS=/Z7 
            set LINKER=link 
            set LINKFLAGS=/nologo /manifest  /export:%ENTRYPOINT% /DLL /LIBPATH:"C:\MATLAB\R2015b\extern\lib\win64\microsoft" libmx.lib libmex.lib libmat.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /EXPORT:mexFunction 
            set LINKDEBUGFLAGS=/debug /PDB:"%OUTDIR%%MEX_NAME%.mexw64.pdb" 
            set NAME_OUTPUT=/out:"%OUTDIR%%MEX_NAME%%MEX_EXT%"
VCROOT : C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC
SDKROOT : C:\Program Files (x86)\Windows Kits\8.1\
VSINSTALLDIR : C:\Program Files (x86)\Microsoft Visual Studio 12.0\
VCINSTALLDIR : C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\
PROF_ENV : C:\Program Files (x86)\Microsoft Visual Studio 12.0\Common7\IDE\devenv.exe
VCVARSALLDIR : C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC
MATLABROOT : C:\MATLAB\R2015b
ARCH : win64
SRC : C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\BLASReplacement.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\LAPACKReplacement.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\LoggedSQProblem.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\SQProblem.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\QProblem.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\QProblemB.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\Bounds.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\Constraints.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\SubjectTo.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\Indexlist.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\Flipper.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\Utils.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\Options.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\Matrices.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\MessageHandling.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\src\stage_qp_solver_clipping.c;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\src\stage_qp_solver_qpoases.cpp;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\src\qpdunes_utils.c;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\src\dual_qp.c;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\src\matrix_vector.c;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\src\setup_qp.c;C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\mpc\setup_mpc.c
OBJ : D:\Temp\mex_4409866547178_7976\qpDUNES.obj;D:\Temp\mex_4409866547178_7976\BLASReplacement.obj;D:\Temp\mex_4409866547178_7976\LAPACKReplacement.obj;D:\Temp\mex_4409866547178_7976\LoggedSQProblem.obj;D:\Temp\mex_4409866547178_7976\SQProblem.obj;D:\Temp\mex_4409866547178_7976\QProblem.obj;D:\Temp\mex_4409866547178_7976\QProblemB.obj;D:\Temp\mex_4409866547178_7976\Bounds.obj;D:\Temp\mex_4409866547178_7976\Constraints.obj;D:\Temp\mex_4409866547178_7976\SubjectTo.obj;D:\Temp\mex_4409866547178_7976\Indexlist.obj;D:\Temp\mex_4409866547178_7976\Flipper.obj;D:\Temp\mex_4409866547178_7976\Utils.obj;D:\Temp\mex_4409866547178_7976\Options.obj;D:\Temp\mex_4409866547178_7976\Matrices.obj;D:\Temp\mex_4409866547178_7976\MessageHandling.obj;D:\Temp\mex_4409866547178_7976\stage_qp_solver_clipping.obj;D:\Temp\mex_4409866547178_7976\stage_qp_solver_qpoases.obj;D:\Temp\mex_4409866547178_7976\qpdunes_utils.obj;D:\Temp\mex_4409866547178_7976\dual_qp.obj;D:\Temp\mex_4409866547178_7976\matrix_vector.obj;D:\Temp\mex_4409866547178_7976\setup_qp.obj;D:\Temp\mex_4409866547178_7976\setup_mpc.obj
OBJS : D:\Temp\mex_4409866547178_7976\qpDUNES.obj D:\Temp\mex_4409866547178_7976\BLASReplacement.obj D:\Temp\mex_4409866547178_7976\LAPACKReplacement.obj D:\Temp\mex_4409866547178_7976\LoggedSQProblem.obj D:\Temp\mex_4409866547178_7976\SQProblem.obj D:\Temp\mex_4409866547178_7976\QProblem.obj D:\Temp\mex_4409866547178_7976\QProblemB.obj D:\Temp\mex_4409866547178_7976\Bounds.obj D:\Temp\mex_4409866547178_7976\Constraints.obj D:\Temp\mex_4409866547178_7976\SubjectTo.obj D:\Temp\mex_4409866547178_7976\Indexlist.obj D:\Temp\mex_4409866547178_7976\Flipper.obj D:\Temp\mex_4409866547178_7976\Utils.obj D:\Temp\mex_4409866547178_7976\Options.obj D:\Temp\mex_4409866547178_7976\Matrices.obj D:\Temp\mex_4409866547178_7976\MessageHandling.obj D:\Temp\mex_4409866547178_7976\stage_qp_solver_clipping.obj D:\Temp\mex_4409866547178_7976\stage_qp_solver_qpoases.obj D:\Temp\mex_4409866547178_7976\qpdunes_utils.obj D:\Temp\mex_4409866547178_7976\dual_qp.obj D:\Temp\mex_4409866547178_7976\matrix_vector.obj D:\Temp\mex_4409866547178_7976\setup_qp.obj D:\Temp\mex_4409866547178_7976\setup_mpc.obj 
SRCROOT : C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES
DEF : D:\Temp\mex_4409866547178_7976\qpDUNES.def
EXP : C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.exp
LIB : C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.lib
EXE : C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.mexw64
ILK : C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.ilk
MANIFEST : C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.mexw64.manifest
TEMPNAME : C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES
EXEDIR : C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\
EXENAME : qpDUNES
COPTIMFLAGS :  -O3
OPTIM : /O2 /Oy- /DNDEBUG
LINKOPTIM : 
CMDLINE100_0 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.cpp /FoD:\Temp\mex_4409866547178_7976\qpDUNES.obj
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CMDLINE100_5 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\QProblem.cpp /FoD:\Temp\mex_4409866547178_7976\QProblem.obj
CMDLINE100_6 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\QProblemB.cpp /FoD:\Temp\mex_4409866547178_7976\QProblemB.obj
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CMDLINE100_8 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\Constraints.cpp /FoD:\Temp\mex_4409866547178_7976\Constraints.obj
CMDLINE100_9 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\SubjectTo.cpp /FoD:\Temp\mex_4409866547178_7976\SubjectTo.obj
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CMDLINE100_11 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\Flipper.cpp /FoD:\Temp\mex_4409866547178_7976\Flipper.obj
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CMDLINE100_13 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\Options.cpp /FoD:\Temp\mex_4409866547178_7976\Options.obj
CMDLINE100_14 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\Matrices.cpp /FoD:\Temp\mex_4409866547178_7976\Matrices.obj
CMDLINE100_15 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\externals\qpOASES-3.0beta\src\MessageHandling.cpp /FoD:\Temp\mex_4409866547178_7976\MessageHandling.obj
CMDLINE100_16 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\src\stage_qp_solver_clipping.c /FoD:\Temp\mex_4409866547178_7976\stage_qp_solver_clipping.obj
CMDLINE100_17 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\src\stage_qp_solver_qpoases.cpp /FoD:\Temp\mex_4409866547178_7976\stage_qp_solver_qpoases.obj
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CMDLINE100_22 : cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus  /D__MATLAB__  /DWIN32   /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0   /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc  -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\mpc\setup_mpc.c /FoD:\Temp\mex_4409866547178_7976\setup_mpc.obj

---

Building with 'Microsoft Visual C++ 2013 Professional'.
cl /c /Zp8 /GR /W3 /EHs /nologo /MD /O2 /Oy- /DNDEBUG /D__cplusplus /D__MATLAB__ /DWIN32 /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0 /DMATLAB_MEX_FILE -I. -I../../include -I../../externals/qpOASES-3.0beta/include -I../../interfaces/mpc -I"C:\MATLAB\R2015b\extern\include" -I"C:\MATLAB\R2015b\simulink\include" C:\Users\loved\Documents\MATLAB\qpDUNES-dev-master\interfaces\matlab\qpDUNES.cpp /FoD:\Temp\mex_4409866547178_7976\qpDUNES.obj
Error using mex
qpDUNES.cpp
c1xx : warning C4117: Makroname '__cplusplus' ist reserviert, '#define' wird ignoriert
../../include\qp/qpdunes_utils.h(39) : fatal error C1083: Datei (Include) kann nicht ge?ffnet werden:
"sys/time.h": No such file or directory

Error in make (line 98)
eval( cmd );