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  1. shared_lib: casadi_fun solver
  2.     gcc $(ACADOS_FLAGS) -shared -o libacados_solver_pendulum_ode.so $(OBJ) -L $(LIB_PATH)/acados \
  3.     -L $(LIB_PATH) \
  4.     -L $(LIB_PATH)/external/blasfeo \
  5.     -L $(LIB_PATH)/external/hpipm  \
  6.     -L $(LIB_PATH)/external/qpoases/lib \
  7.     -lacados -lhpipm -lblasfeo -lqpOASES_e -lm \
  8.  
  9. static_lib: casadi_fun solver
  10.     ar rcs libacados_solver_pendulum_ode.a $(OBJ) $(LIB_PATH)/acados/libacados.a \
  11.     $(LIB_PATH)/external/blasfeo/libblasfeo.a \
  12.     $(LIB_PATH)/external/hpipm/libhpipm.a  \
  13.     $(LIB_PATH)/external/qpoases/lib/libqpOASES_e.a \
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