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- diff --git a/CMakeLists.txt b/CMakeLists.txt
- index afd7bb94..a8ccb883 100644
- --- a/CMakeLists.txt
- +++ b/CMakeLists.txt
- @@ -267,15 +267,18 @@ endif (R_LANG)
-
- # Create Static Library
- # ----------------------------------------------
- -
- +include(GNUInstallDirs)
- +include(FindPkgConfig)
- +pkg_search_module(qdldl REQUIRED IMPORTED_TARGET qdldl)
- # Add linear system solvers cumulative library
- add_subdirectory(lin_sys)
-
- +if(NOT BUILD_SHARED_LIBS)
- # Static library
- add_library (osqpstatic STATIC ${osqp_src} ${osqp_headers} ${linsys_solvers})
- # Give same name to static library output
- set_target_properties(osqpstatic PROPERTIES OUTPUT_NAME osqp)
- -
- +target_link_libraries(osqpstatic PkgConfig::qdldl)
- # Include directories for linear system solvers
- target_include_directories(osqpstatic PRIVATE ${linsys_solvers_includes})
-
- @@ -294,7 +297,7 @@ install(TARGETS osqpstatic
- ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
- LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
- RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
- -
- +endif()
-
- # Install Headers
- # ----------------------------------------------
- @@ -310,10 +313,11 @@ endif (MATLAB)
- # If we are building Python/Matlab/R interface:
- # - do not build shared library
- # - do not build demo
- -if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
- +if (BUILD_SHARED_LIBS)
- # Create osqp shared library
- # NB: Add all the linear system solvers here
- add_library (osqp SHARED ${osqp_src} ${osqp_headers} ${linsys_solvers})
- + target_link_libraries(osqp PkgConfig::qdldl)
-
- # Include directories for linear system solvers
- target_include_directories(osqp PRIVATE ${linsys_solvers_includes})
- @@ -331,10 +335,9 @@ if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
- RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
-
- # Create demo executable (linked to static library)
- - add_executable (osqp_demo ${PROJECT_SOURCE_DIR}/examples/osqp_demo.c)
- - target_link_libraries (osqp_demo osqpstatic)
-
- -endif (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
- +
- +endif (BUILD_SHARED_LIBS)
-
- # Create CMake packages for the build directory
- # ----------------------------------------------
- diff --git a/lin_sys/direct/CMakeLists.txt b/lin_sys/direct/CMakeLists.txt
- index c36c375a..2942cc9f 100644
- --- a/lin_sys/direct/CMakeLists.txt
- +++ b/lin_sys/direct/CMakeLists.txt
- @@ -6,7 +6,7 @@ add_subdirectory(qdldl)
-
- # Need to add qdldlobject only here because it cannot be
- # included in another object library such as linsys_qdldl
- -set(direct_linsys_solvers $<TARGET_OBJECTS:linsys_qdldl> $<TARGET_OBJECTS:qdldlobject>)
- +set(direct_linsys_solvers $<TARGET_OBJECTS:linsys_qdldl> )
-
- # NB. The second directory is added because we need to include the "qdldl_types.h" file in "qdldl_interface.h"
- set(direct_linsys_solvers_includes
- diff --git a/lin_sys/direct/qdldl/CMakeLists.txt b/lin_sys/direct/qdldl/CMakeLists.txt
- index d78c4a38..b3429a12 100644
- --- a/lin_sys/direct/qdldl/CMakeLists.txt
- +++ b/lin_sys/direct/qdldl/CMakeLists.txt
- @@ -1,5 +1,4 @@
- # Add qdldl
- -add_subdirectory(qdldl_sources)
-
-
- if(NOT DEFINED EMBEDDED)
- @@ -39,3 +38,4 @@ set(qdldl_interface_src
- # Create object library for linear system solver interface
- add_library(linsys_qdldl OBJECT ${qdldl_interface_src})
- target_include_directories(linsys_qdldl PRIVATE ${qdldl_interface_includes} ${PROJECT_SOURCE_DIR}/include)
- +target_link_libraries(linsys_qdldl PkgConfig::qdldl)
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