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I want to use casadi with c++ for optimal control problems. Therefore, I want to include it using the binary with cmake. I am on a Ubuntu 20.04 machine. My cmake version is 3.16.3. My gcc version is 11.1.0.
I followed the following example: Integrate pre-compiled libraries into C++ codebase with CMake ExternalProject and also added this flag

add_definitions(-D_GLIBCXX_USE_CXX11_ABI=0)

for compiling into my CMakeLists.txt https://groups.google.com/g/casadi-users/c/xIw4U6Rymps?pli=1

My code structures as follows (as in the exmaple):

  • main.cpp
  • CMakeLists.txt
  • external/CMakeLists.txt
  • build/

I build the exe as follows in the build folder:

cmake ..

make

and then executing the generated exe:

./main

It compiles without any problem but when executing i receive the following error message:

./main: symbol lookup error: ./main: undefined symbol: _ZN6casadi6MatrixINS_6SXElemEE4_symERKSsRKNS_8SparsityE

It only complains, when adding the SX Casadi symbols. Without them everything works! I think it is some sort of linking error. Thanks for your help. I appreciate every help :) . I post below my code.

main.cpp:

#include <casadi/casadi.hpp>

using namespace casadi;
using namespace std;

int main()
{
    casadi_printf("This works! \n");

    
    SX x = SX::sym("x");
    SX z = SX::sym("z");

    return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.0)
project(untitled)

set(CMAKE_CXX_STANDARD 17)

# some default target
add_executable(main main.cpp)
add_definitions(-D_GLIBCXX_USE_CXX11_ABI=0)
# Configure and build external project
file(MAKE_DIRECTORY ${CMAKE_BINARY_DIR}/external)
execute_process(
        COMMAND ${CMAKE_COMMAND} ${CMAKE_SOURCE_DIR}/external
        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/external
)
execute_process(
        COMMAND ${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR}/external
)

# find and link externals
find_package(casadi REQUIRED HINTS ${CMAKE_BINARY_DIR}/external/external/casadi/src/casadi-3.5.5/casadi)
target_link_libraries(main casadi)

external/CMakesLists.txt

cmake_minimum_required(VERSION 3.10)
project(external)
add_definitions(-D_GLIBCXX_USE_CXX11_ABI=0)
include(ExternalProject)
ExternalProject_Add(
        casadi-3.5.5
        URL https://github.com/casadi/casadi/releases/download/3.5.5/casadi-linux-py39-v3.5.5-64bit.tar.gz
        CONFIGURE_COMMAND ""
        BUILD_COMMAND ""
        INSTALL_COMMAND ""
        PREFIX ${CMAKE_BINARY_DIR}/external/casadi)

I tried: including an older binary of casadi, removing and adding the flag

add_definitions(-D_GLIBCXX_USE_CXX11_ABI=0)

in both CMakeLists.txt

Alan Birtles
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annieone
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  • the missing symbol demangles as `casadi::Matrix::_sym(std::string const&, casadi::Sparsity const&)` are you sure that this library reqiures `_GLIBCXX_USE_CXX11_ABI=0`? – Alan Birtles Mar 28 '23 at 09:00
  • When I remove this flag I receive the following error: [100%] Linking CXX executable main /usr/bin/ld: CMakeFiles/main.dir/main.cpp.o: in function `casadi::GenericMatrix >::sym(std::__cxx11::basic_string, std::allocator > const&, casadi::Sparsity const&)': – annieone Mar 28 '23 at 09:06
  • and https://groups.google.com/g/casadi-users/c/xIw4U6Rymps?pli=1 suggests to include that flag. – annieone Mar 28 '23 at 09:07

0 Answers0