Mex error running the examples (Windows)

User Questions
, ,
1

Hi :wave:

Windows 11, Matlab 2021a

I installed today acados following the installation procedure “Installation — acados documentation” without problems but as soon as I run the examples in \examples\acados_matlab_octave\getting_started I receive the following error:

Error using mex
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_nlp_common.c.obj):ocp_nlp_common.c:(.text+0x2a):
undefined reference to `__imp___acrt_iob_func'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_nlp_reg_common.c.obj):ocp_nlp_reg_common.c:(.text+0x25):
undefined reference to `__imp___acrt_iob_func'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_xcond_solver.c.obj):ocp_qp_xcond_solver.c:(.text+0x725):
undefined reference to `__imp___acrt_iob_func'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(sim_common.c.obj):sim_common.c:(.text+0x2a): undefined
reference to `__imp___acrt_iob_func'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(math.c.obj):math.c:(.text+0x25): undefined reference to
`__imp___acrt_iob_func'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(timing.c.obj):timing.c:(.text+0x22): undefined
reference to `__pthread_clock_gettime'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(timing.c.obj):timing.c:(.text+0x9): undefined reference
to `__pthread_clock_gettime'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_nlp_interface.c.obj):ocp_nlp_interface.c:(.text+0x2a):
undefined reference to `__imp___acrt_iob_func'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_interface.c.obj):ocp_qp_interface.c:(.text+0x2a):
undefined reference to `__imp___acrt_iob_func'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_hpipm.c.obj):dense_qp_hpipm.c:(.text+0x425):
undefined reference to `__imp___acrt_iob_func'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_nlp_constraints_bgh.c.obj):ocp_nlp_constraints_bgh.c:(.text+0x42a):
undefined reference to `__imp___acrt_iob_func'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_nlp_constraints_bgp.c.obj):ocp_nlp_constraints_bgp.c:(.text+0x40a):
undefined reference to `__imp___acrt_iob_func'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_nlp_cost_external.c.obj):ocp_nlp_cost_external.c:(.text+0x2fa):
more undefined references to `__imp___acrt_iob_func' follow
collect2.exe: error: ld returned 1 exit status


Error in ocp_compile_interface (line 175)
        mex(mex_flags, FLAGS, LDFLAGS, COMPDEFINES, COMPFLAGS, acados_include, acados_interfaces_include, external_include,
        blasfeo_include, hpipm_include,...

Error in acados_ocp (line 181)
                ocp_compile_interface(obj.opts_struct);

Error in minimal_example_ocp (line 108)
ocp = acados_ocp(ocp_model, ocp_opts);

I know that this same problem has already be treated regarding MacOS, but despite the changes made to the code I experienced the same problem.

Thanks for your support!
Gianmarco.

2

Hi Gianmarco,

I think you didn’t paste the full error message.
The essential part should be above the lines you posted.

3

I just edited the error with the full one, thanks!

4

Are you sure that you use the same compiler in MEX and for compiling the acados lib?
Please double check this.

5

It is not clear to me how to check this.

I installed using add-ons manager MATLAB Support for MinGW-w64 C/C++ Compiler.
On the command windows I obtain:

>>mex -setup C
MEX configured to use 'MinGW64 Compiler (C)' for C language compilation.

I following the installation guide with the commands:

cmake.exe -G "MinGW Makefiles" -DACADOS_INSTALL_DIR="$ACADOS_INSTALL_DIR" -DBUILD_SHARED_LIBS=OFF -DACADOS_WITH_OSQP=ON ..

and on the windows power shell

mingw32-make.exe -j4
mingw32-make.exe install

Do I have to install also a package at this link? Downloads - MinGW-w64

Thanks for your support!

6

I moved up the compiler path in the path list of the environment variables and re-installed everything. I obtained a new error, which I think it has already been treated but it’s not clear to me if it has been solved or not.
It is the following one:

compiling C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\interfaces\acados_matlab_octave\ocp_create.c
Building with 'MinGW64 Compiler (C)'.
Error using mex
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1e5): undefined reference to
`QProblem_calculateMemorySize'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x21a): undefined reference to
`QProblemB_calculateMemorySize'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x483): undefined reference to
`QProblemB_assignMemory'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x48b): undefined reference to
`QProblemB_calculateMemorySize'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x526): undefined reference to
`QProblem_assignMemory'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x530): undefined reference to
`QProblem_calculateMemorySize'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xa8e): undefined reference to
`QProblemBCON'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xa9b): undefined reference to
`QProblemB_setPrintLevel'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xaa3): undefined reference to
`QProblemB_printProperties'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xb0e): undefined reference to
`QProblemB_init'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xb2d): undefined reference to
`QProblemB_getPrimalSolution'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xb38): undefined reference to
`QProblemB_getDualSolution'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xe8b): undefined reference to
`QProblem_hotstart'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xeaa): undefined reference to
`QProblem_getPrimalSolution'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xeb5): undefined reference to
`QProblem_getDualSolution'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xee1): undefined reference to
`QProblemCON'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xeee): undefined reference to
`QProblem_setPrintLevel'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xef6): undefined reference to
`QProblem_printProperties'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0xfb9): undefined reference to
`QProblem_initW'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1160): undefined reference to
`QProblemB_initW'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x11d6): undefined reference to
`QProblemB_hotstart'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x11e6): undefined reference to
`QProblemB_getPrimalSolution'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x11f1): undefined reference to
`QProblemB_getDualSolution'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1273): undefined reference to
`QProblem_init'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1292): undefined reference to
`QProblem_getPrimalSolution'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x129d): undefined reference to
`QProblem_getDualSolution'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x12ae): undefined reference to
`Options_setToMPC'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x12fa): undefined reference to
`OptionsCPY'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1302): undefined reference to
`Options_ensureConsistency'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1315): undefined reference to
`QProblem_setPrintLevel'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x15d1): undefined reference to
`Options_setToMPC'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x161d): undefined reference to
`OptionsCPY'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1625): undefined reference to
`Options_ensureConsistency'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1638): undefined reference to
`QProblemB_setPrintLevel'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x168e): undefined reference to
`QProblem_initW'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x16d7): undefined reference to
`QProblemBCON'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x16e4): undefined reference to
`QProblemB_setPrintLevel'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x173b): undefined reference to
`QProblemB_init'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1755): undefined reference to
`QProblemB_getPrimalSolution'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1760): undefined reference to
`QProblemB_getDualSolution'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x17b9): undefined reference to
`QProblem_init'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x17fa): undefined reference to
`QProblem_hotstart'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1828): undefined reference to
`QProblemCON'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x183a): undefined reference to
`QProblem_setPrintLevel'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x18bb): undefined reference to
`QProblem_init'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x18dd): undefined reference to
`Options_setToMPC'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1929): undefined reference to
`OptionsCPY'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1931): undefined reference to
`Options_ensureConsistency'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1944): undefined reference to
`QProblem_setPrintLevel'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1992): undefined reference to
`QProblem_init'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x19aa): undefined reference to
`Options_setToMPC'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x19fe): undefined reference to
`OptionsCPY'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1a0e): undefined reference to
`Options_ensureConsistency'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(dense_qp_qpoases.c.obj):dense_qp_qpoases.c:(.text+0x1a21): undefined reference to
`QProblem_setPrintLevel'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x4c): undefined reference to
`osqp_set_default_settings'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x1601): undefined reference to
`osqp_update_lin_cost'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x1630): undefined reference to
`osqp_update_P_A'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x1641): undefined reference to
`osqp_update_bounds'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x165a): undefined reference to
`osqp_solve'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x23ea): undefined reference to
`cold_start'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x258d): undefined reference to
`set_rho_vec'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x259c): undefined reference to
`load_linsys_solver'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x25d5): undefined reference to
`init_linsys_solver'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x262c): undefined reference to
`update_status'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x267f): undefined reference to
`print_setup_header'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x35ec): undefined reference to
`cold_start'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_osqp.c.obj):ocp_qp_osqp.c:(.text+0x3634): undefined reference to
`scale_data'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_qpdunes.c.obj):ocp_qp_qpdunes.c:(.text+0x2f0): undefined reference to
`qpDUNES_setupDefaultOptions'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_qpdunes.c.obj):ocp_qp_qpdunes.c:(.text+0x6f9): undefined reference to
`qpDUNES_setup'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_qpdunes.c.obj):ocp_qp_qpdunes.c:(.text+0x1170): undefined reference to
`qpDUNES_updateIntervalData'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_qpdunes.c.obj):ocp_qp_qpdunes.c:(.text+0x1ab1): undefined reference to
`qpDUNES_updateIntervalData'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_qpdunes.c.obj):ocp_qp_qpdunes.c:(.text+0x1b05): undefined reference to
`qpDUNES_solve'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_qpdunes.c.obj):ocp_qp_qpdunes.c:(.text+0x2780): undefined reference to
`qpDUNES_updateIntervalData'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_qpdunes.c.obj):ocp_qp_qpdunes.c:(.text+0x299b): undefined reference to
`qpDUNES_setupRegularInterval'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_qpdunes.c.obj):ocp_qp_qpdunes.c:(.text+0x2d2e): undefined reference to
`qpDUNES_setupFinalInterval'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_qpdunes.c.obj):ocp_qp_qpdunes.c:(.text+0x2d47): undefined reference to
`qpDUNES_setupAllLocalQPs'
C:\Users\ggran\acados\examples\acados_matlab_octave\..\..\lib\acados.lib(ocp_qp_qpdunes.c.obj):ocp_qp_qpdunes.c:(.text+0x3395): undefined reference to
`qpDUNES_cleanup'
collect2.exe: error: ld returned 1 exit status


Error in ocp_compile_interface (line 175)
        mex(mex_flags, FLAGS, LDFLAGS, COMPDEFINES, COMPFLAGS, acados_include, acados_interfaces_include, external_include, blasfeo_include,
        hpipm_include,...

Error in acados_ocp (line 181)
                ocp_compile_interface(obj.opts_struct);

Error in minimal_example_ocp (line 108)
ocp = acados_ocp(ocp_model, ocp_opts);

Thanks for your help!

7

Is this just an issue with the external QP solvers (qpOASES, qpDUNES, OSQP)?
Can you try turning all of them off?

8

Do I repeat the installation procedure with:

cmake.exe -G "MinGW Makefiles" -DACADOS_WITH_OSQP=OFF -DACADOS_WITH_QPOASES=OFF -DACADOS_WITH_QPDUNES=OFF

or is there a faster way to change these flags?

Thanks!

9

Yes, that’s the way.
Ideally, you remove the contents of the build folder before doing this.
There is a CMakeCache.txt file inside.

10

Thanks a lot, it worked!