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Install Eigen
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Download qpoases-3.2.0 at https://www.coin-or.org/download/source/qpOASES/ and install it linking with lapack and blas. (do not use qpoases-3.2.1 since there are some missing symbols while linking)
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In make.mk, change QPOASES_PATH to the directory of qpoases-3.2.0
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Run make
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