diff --git a/CMakeLists.txt b/CMakeLists.txt
index d04e2b88cc1f5c10b33b1ca2788aa7ef4aec94e6..9c19d3561d7b867944a34dbdd75aab916fbfc9f5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,6 @@
cmake_minimum_required(VERSION 2.6)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/python.cmake)
-INCLUDE(cmake2/FindqpOASES.cmake)
SET(PROJECT_NAME bezier-com-traj)
SET(PROJECT_DESCRIPTION
@@ -47,6 +46,8 @@ IF(BUILD_PYTHON_INTERFACE)
ENDIF(BUILD_PYTHON_INTERFACE)
+find_package (centroidal-dynamics-lib REQUIRED)
+
# Declare Headers
SET(${PROJECT_NAME}_HEADERS
include/bezier-com-traj/data.hh
@@ -66,9 +67,6 @@ else()
endif()
-#SEARCH_FOR_QPOASES()
-ADD_REQUIRED_DEPENDENCY("qpOASES")
-
add_subdirectory(src)
add_subdirectory(tests)
IF(BUILD_PYTHON_INTERFACE)
diff --git a/cmake2/Findcentroidal-dynamics-lib.cmake b/cmake2/Findcentroidal-dynamics-lib.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..bf0b78f7b9f1c06808a9bf8fc7f23da8b280695d
--- /dev/null
+++ b/cmake2/Findcentroidal-dynamics-lib.cmake
@@ -0,0 +1,25 @@
+# - Try to find libcdd
+# Once done this will define
+# CDL_FOUND - System has CDL
+# CDL_INCLUDE_DIRS - The CDL include directories
+# CDL_LIBRARIES - The libraries needed to use CDL
+# CDL_DEFINITIONS - Compiler switches required for using CDL
+
+
+find_path(CDL_INCLUDE_DIR centroidal-dynamics-lib/centroidal_dynamics.h
+ HINTS ${CDL_INCLUDEDIR} /usr/include
+ PATH_SUFFIXES CDL )
+
+find_library(CDL_LIBRARY NAMES libcentroidal-dynamics-lib.so
+ HINTS ${CDL_LIBDIR} ${CDL_LIBRARY_DIRS} /usr/lib/libcentroidal-dynamics-lib.so )
+
+set(CDL_LIBRARIES ${CDL_LIBRARY} )
+set(CDL_INCLUDE_DIRS ${CDL_INCLUDE_DIR} )
+
+include(FindPackageHandleStandardArgs)
+# handle the QUIETLY and REQUIRED arguments and set CDL_FOUND to TRUE
+# if all listed variables are TRUE
+find_package_handle_standard_args(CDL DEFAULT_MSG
+ CDL_LIBRARY CDL_INCLUDE_DIR)
+
+mark_as_advanced(CDL_INCLUDE_DIR CDL_LIBRARY )
diff --git a/cmake2/FindqpOASES.cmake b/cmake2/FindqpOASES.cmake
deleted file mode 100644
index 0f349c647571c52100c0f840c4a1faa54b82f1b7..0000000000000000000000000000000000000000
--- a/cmake2/FindqpOASES.cmake
+++ /dev/null
@@ -1,53 +0,0 @@
-#.rst:
-# FindqpOASES
-# -----------
-#
-# Try to find the qpOASES library.
-# Once done this will define the following variables::
-#
-# qpOASES_FOUND - System has qpOASES
-# qpOASES_INCLUDE_DIR - qpOASES include directory
-# qpOASES_LIBRARY - qpOASES libraries
-#
-# qpOASES does not have an "install" step, and the includes are in the source
-# tree, while the libraries are in the build tree.
-# Therefore the environment and cmake variables `qpOASES_SOURCE_DIR` and
-# `qpOASES_BINARY_DIR` will be used to locate the includes and libraries.
-
-#=============================================================================
-# Copyright 2014 iCub Facility, Istituto Italiano di Tecnologia
-# Authors: Daniele E. Domenichelli <daniele.domenichelli@iit.it>
-#
-# Distributed under the OSI-approved BSD License (the "License");
-# see accompanying file Copyright.txt for details.
-#
-# This software is distributed WITHOUT ANY WARRANTY; without even the
-# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the License for more information.
-#=============================================================================
-# (To distribute this file outside of YCM, substitute the full
-# License text for the above reference.)
-MACRO(SEARCH_FOR_QPOASES)
-
-include(FindPackageHandleStandardArgs)
-
-find_path(qpOASES_INCLUDEDIR
- NAMES qpOASES.hpp
- HINTS "${qpOASES_SOURCE_DIR}"
- ENV qpOASES_SOURCE_DIR
- PATH_SUFFIXES include)
-find_library(qpOASES_LIB
- NAMES qpOASES
- HINTS "${qpOASES_BINARY_DIR}"
- ENV qpOASES_BINARY_DIR
- PATH_SUFFIXES lib
- libs)
-
-set(qpOASES_INCLUDE_DIR ${qpOASES_INCLUDEDIR})
-set(qpOASES_LIBRARY ${qpOASES_LIB})
-
-find_package_handle_standard_args(qpOASES DEFAULT_MSG qpOASES_LIBRARY
- qpOASES_INCLUDE_DIR)
-set(qpOASES_FOUND ${QPOASES_FOUND})
-
-ENDMACRO(SEARCH_FOR_QPOASES)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 4c36bf12a4ba2721199090db0786857391cb48b9..af6181bb2a5afff703bcd1991e87d0a2154bbcc2 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -4,33 +4,21 @@ INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/src)
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/include)
include_directories("${INCLUDE_DIR}")
include_directories("${EIGEN3_INCLUDE_DIR}")
-# no need to include directories for qpOASES as it is automatically done through pkgconfig
SET(LIBRARY_NAME ${PROJECT_NAME})
SET(${LIBRARY_NAME}_SOURCES
- ${INCLUDE_DIR}/bezier-com-traj/config.hh
- ${INCLUDE_DIR}/bezier-com-traj/data.hh
- ${INCLUDE_DIR}/bezier-com-traj/solve.hh
- ${INCLUDE_DIR}/bezier-com-traj/common_solve_methods.hh
- ${INCLUDE_DIR}/solver/eiquadprog-fast.hpp
- solve.cpp
- common_solve_methods.cpp
- eiquadprog-fast.cpp
- solve_transition.cpp
- #~ ${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_abstract.hh
- #~ ${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_qpoases.hh
- #~ ${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_clp.hh
- #~ ${INCLUDE_DIR}/centroidal-dynamics-lib/centroidal_dynamics.hh
- #~ centroidal_dynamics.cpp
- #~ solver_LP_abstract.cpp
- #~ solver_LP_qpoases.cpp
- #~ solver_LP_clp.cpp
- #~ util.cpp
- #~ logger.cpp
- #~ stop-watch.cpp
- )
+ ${INCLUDE_DIR}/bezier-com-traj/config.hh
+ ${INCLUDE_DIR}/bezier-com-traj/data.hh
+ ${INCLUDE_DIR}/bezier-com-traj/solve.hh
+ ${INCLUDE_DIR}/bezier-com-traj/common_solve_methods.hh
+ ${INCLUDE_DIR}/solver/eiquadprog-fast.hpp
+ solve.cpp
+ common_solve_methods.cpp
+ eiquadprog-fast.cpp
+ solve_transition.cpp
+)
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/src)
ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
@@ -38,9 +26,7 @@ ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
if ( MSVC )
SET(CMAKE_DEBUG_POSTFIX d)
endif ( MSVC )
-
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME} centroidal-dynamics-lib)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} qpOASES)
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${CDL_LIBRARIES})
SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}")
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 94933877d42de05d0be3b396a195996f1b2e614c..b4b176fe0544d278f76ea2a449f3b9dceee7cae9 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -25,11 +25,9 @@ MACRO(ADD_TESTCASE NAME GENERATED)
ENDIF()
ADD_TEST(${NAME} ${RUNTIME_OUTPUT_DIRECTORY}/${NAME})
- PKG_CONFIG_USE_DEPENDENCY(${NAME} qpOASES)
-
# Link against Boost and project library.
TARGET_LINK_LIBRARIES(${NAME}
- ${Boost_LIBRARIES} centroidal-dynamics-lib bezier-com-traj
+ ${Boost_LIBRARIES} bezier-com-traj ${CDL_LIBRARIES}
)
ENDMACRO(ADD_TESTCASE)
@@ -37,14 +35,12 @@ ENDMACRO(ADD_TESTCASE)
ADD_TESTCASE (test-transition-quasiStatic False)
ADD_TESTCASE (test-transition False)
-
-
if ( MSVC )
SET(CMAKE_DEBUG_POSTFIX d)
endif ( MSVC )
-ADD_EXECUTABLE(bezier-com-traj-test test_static_equilibrium.cpp)
+ADD_EXECUTABLE(bezier-com-traj-test test_static_equilibrium.cpp test_helper.hh)
-TARGET_LINK_LIBRARIES(bezier-com-traj-test bezier-com-traj)
+TARGET_LINK_LIBRARIES(bezier-com-traj-test bezier-com-traj ${CDL_LIBRARIES})
diff --git a/tests/test_helper.hh b/tests/test_helper.hh
index 485d5a6a337a42303a8fefbf561a984648f30211..1a50dbbb8cb3f65015d8ae46fde2b26a702aa78d 100644
--- a/tests/test_helper.hh
+++ b/tests/test_helper.hh
@@ -4,6 +4,7 @@
#include <bezier-com-traj/solve.hh>
#include <bezier-com-traj/common_solve_methods.hh>
#include <centroidal-dynamics-lib/centroidal_dynamics.hh>
+#include <boost/test/included/unit_test.hpp>
using bezier_com_traj::MatrixXX;
using bezier_com_traj::MatrixX3;
diff --git a/tests/test_static_equilibrium.cpp b/tests/test_static_equilibrium.cpp
index aee678e131205b8dfeeb976f3f149c67d9279fe5..9b912d1fd5fe1ddcd24443d5232c36175b8b4e0c 100644
--- a/tests/test_static_equilibrium.cpp
+++ b/tests/test_static_equilibrium.cpp
@@ -25,6 +25,8 @@ using namespace std;
#define EPS 1e-3 // required precision
+
+
void generateContacts(unsigned int N_CONTACTS, double MIN_CONTACT_DISTANCE, double LX, double LY,
RVector3 &CONTACT_POINT_LOWER_BOUNDS,
RVector3 &CONTACT_POINT_UPPER_BOUNDS,