I managed to compile with
cmake -DACADOS_WITH_QPOASES=ON -DACADOS_OCTAVE=ON -DACADOS_PYTHON=ON -DCMAKE_POLICY_VERSION_MINIMUM=3.5 ..
but I could not compile HPMPC nor qpDUNES. HPMPC throws these errors:
[ 72%] Building C object external/hpmpc/CMakeFiles/hpmpc.dir/lqcp_solvers/d_back_ric_rec_libstr.c.o
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:145:105: error: too many arguments to function call, expected 8, have 9
145 | blasfeo_dtrmv_lnn(nx[N-nn], nx[N-nn], &hsL[N-nn], nu[N-nn], nu[N-nn], &hswork_vec_0, 0, &hsPb[N-nn], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:105:6: note: 'blasfeo_dtrmv_lnn' declared here
105 | void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:198:102: error: too many arguments to function call, expected 8, have 9
198 | blasfeo_dtrmv_ltn(nx[nn+1], nx[nn+1], &hsL[nn+1], nu[nn+1], nu[nn+1], &hspi[nn+1], 0, &hspi[nn+1], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:109:6: note: 'blasfeo_dtrmv_ltn' declared here
109 | void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:200:102: error: too many arguments to function call, expected 8, have 9
200 | blasfeo_dtrmv_lnn(nx[nn+1], nx[nn+1], &hsL[nn+1], nu[nn+1], nu[nn+1], &hspi[nn+1], 0, &hspi[nn+1], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:105:6: note: 'blasfeo_dtrmv_lnn' declared here
105 | void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:217:103: error: too many arguments to function call, expected 8, have 9
217 | blasfeo_dtrmv_ltn(nx[nn+1], nx[nn+1], &hsL[nn+1], nu[nn+1], nu[nn+1], &hspi[nn+1], 0, &hspi[nn+1], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:109:6: note: 'blasfeo_dtrmv_ltn' declared here
109 | void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:219:103: error: too many arguments to function call, expected 8, have 9
219 | blasfeo_dtrmv_lnn(nx[nn+1], nx[nn+1], &hsL[nn+1], nu[nn+1], nu[nn+1], &hspi[nn+1], 0, &hspi[nn+1], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:105:6: note: 'blasfeo_dtrmv_lnn' declared here
105 | void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:340:104: error: too many arguments to function call, expected 8, have 9
340 | blasfeo_dtrmv_ltn(nx[N-nn], nx[N-nn], &hsL[N-nn], nu[N-nn], nu[N-nn], &hsb[N-nn-1], 0, &hsPb[N-nn], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:109:6: note: 'blasfeo_dtrmv_ltn' declared here
109 | void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:341:103: error: too many arguments to function call, expected 8, have 9
341 | blasfeo_dtrmv_lnn(nx[N-nn], nx[N-nn], &hsL[N-nn], nu[N-nn], nu[N-nn], &hsPb[N-nn], 0, &hsPb[N-nn], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:105:6: note: 'blasfeo_dtrmv_lnn' declared here
105 | void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:364:103: error: too many arguments to function call, expected 8, have 9
364 | blasfeo_dtrmv_ltn(nx[N-nn], nx[N-nn], &hsL[N-nn], nu[N-nn], nu[N-nn], &hsb[N-nn-1], 0, &hsPb[N-nn], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:109:6: note: 'blasfeo_dtrmv_ltn' declared here
109 | void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:365:102: error: too many arguments to function call, expected 8, have 9
365 | blasfeo_dtrmv_lnn(nx[N-nn], nx[N-nn], &hsL[N-nn], nu[N-nn], nu[N-nn], &hsPb[N-nn], 0, &hsPb[N-nn], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:105:6: note: 'blasfeo_dtrmv_lnn' declared here
105 | void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:395:106: error: too many arguments to function call, expected 8, have 9
395 | blasfeo_dtrmv_ltn(nx[nn+1], nx[nn+1], &hsL[nn+1], nu[nn+1], nu[nn+1], &hswork_vec_0, 0, &hswork_vec_0, 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:109:6: note: 'blasfeo_dtrmv_ltn' declared here
109 | void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:396:106: error: too many arguments to function call, expected 8, have 9
396 | blasfeo_dtrmv_lnn(nx[nn+1], nx[nn+1], &hsL[nn+1], nu[nn+1], nu[nn+1], &hswork_vec_0, 0, &hswork_vec_0, 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:105:6: note: 'blasfeo_dtrmv_lnn' declared here
105 | void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:416:107: error: too many arguments to function call, expected 8, have 9
416 | blasfeo_dtrmv_ltn(nx[nn+1], nx[nn+1], &hsL[nn+1], nu[nn+1], nu[nn+1], &hswork_vec_0, 0, &hswork_vec_0, 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:109:6: note: 'blasfeo_dtrmv_ltn' declared here
109 | void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:417:107: error: too many arguments to function call, expected 8, have 9
417 | blasfeo_dtrmv_lnn(nx[nn+1], nx[nn+1], &hsL[nn+1], nu[nn+1], nu[nn+1], &hswork_vec_0, 0, &hswork_vec_0, 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:105:6: note: 'blasfeo_dtrmv_lnn' declared here
105 | void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:497:105: error: too many arguments to function call, expected 8, have 9
497 | blasfeo_dtrmv_lnn(nx[N-nn], nx[N-nn], &hsL[N-nn], nu[N-nn], nu[N-nn], &hswork_vec_0, 0, &hsPb[N-nn], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:105:6: note: 'blasfeo_dtrmv_lnn' declared here
105 | void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:567:103: error: too many arguments to function call, expected 8, have 9
567 | blasfeo_dtrmv_ltn(nx[nn+1], nx[nn+1], &hsL[nn+1], nu[nn+1], nu[nn+1], &hspi[nn+1], 0, &hspi[nn+1], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:109:6: note: 'blasfeo_dtrmv_ltn' declared here
109 | void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/Users/zmario/src/acados/external/hpmpc/lqcp_solvers/d_back_ric_rec_libstr.c:569:103: error: too many arguments to function call, expected 8, have 9
569 | blasfeo_dtrmv_lnn(nx[nn+1], nx[nn+1], &hsL[nn+1], nu[nn+1], nu[nn+1], &hspi[nn+1], 0, &hspi[nn+1], 0);
| ~~~~~~~~~~~~~~~~~ ^
/Users/zmario/src/acados/external/blasfeo/include/blasfeo_d_blasfeo_api.h:105:6: note: 'blasfeo_dtrmv_lnn' declared here
105 | void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi);
| ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
16 errors generated.
make[2]: *** [external/hpmpc/CMakeFiles/hpmpc.dir/lqcp_solvers/d_back_ric_rec_libstr.c.o] Error 1
make[1]: *** [external/hpmpc/CMakeFiles/hpmpc.dir/all] Error 2
make: *** [all] Error 2
qpDUNES throws this error:
[ 88%] Building C object acados/CMakeFiles/acados.dir/ocp_qp/ocp_qp_qpdunes.c.o
In file included from /Users/zmario/src/acados/acados/ocp_qp/ocp_qp_qpdunes.c:48:
In file included from /Users/zmario/src/acados/acados/utils/print.h:40:
In file included from /Users/zmario/src/acados/acados/ocp_nlp/ocp_nlp_common.h:59:
In file included from /Users/zmario/src/acados/acados/ocp_nlp/ocp_nlp_dynamics_common.h:51:
In file included from /Users/zmario/src/acados/acados/sim/sim_common.h:38:
In file included from /Users/zmario/src/acados/acados/utils/timing.h:56:
In file included from /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/mach/mach_time.h:32:
In file included from /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/mach/mach_types.h:80:
In file included from /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/mach/host_info.h:66:
In file included from /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/mach/message.h:78:
In file included from /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/mach/port.h:91:
In file included from /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/mach/boolean.h:73:
In file included from /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/mach/machine/boolean.h:35:
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/include/mach/arm/boolean.h:70:25: error: typedef redefinition with different types ('int' vs 'unsigned int')
70 | typedef int boolean_t;
| ^
/Users/zmario/src/acados/external/qpdunes/include/qp/types.h:151:23: note: previous definition is here
151 | typedef unsigned int boolean_t;
| ^
1 error generated.
make[2]: *** [acados/CMakeFiles/acados.dir/ocp_qp/ocp_qp_qpdunes.c.o] Error 1
make[1]: *** [acados/CMakeFiles/acados.dir/all] Error 2
make: *** [all] Error 2