Clean up repo and builds

.gitmodules

@@ -0,0 +1,15 @@
+[submodule "C++/External/blasfeo"]
+	path = C++/External/blasfeo
+	url = https://github.com/giaf/blasfeo.git
+[submodule "C++/External/hpipm"]
+	path = C++/External/hpipm
+	url = https://github.com/giaf/hpipm.git
+[submodule "External/matplotlib"]
+	path = C++/External/matplotlib
+	url = https://github.com/lava/matplotlib-cpp.git
+[submodule "C++/External/Eigen"]
+	path = C++/External/Eigen
+	url = https://gitlab.com/libeigen/eigen.git
+[submodule "C++/External/Json"]
+	path = C++/External/Json
+	url = https://github.com/nlohmann/json.git

C++/.gitignore

@@ -1,6 +1,6 @@
 # Project specific excludes
-/External/
 /MPCC
+/build
 
 # CMake
 CMakeCache.txt

C++/CMakeLists.txt

@@ -11,6 +11,9 @@ include_directories(External/matplotlib)
 include_directories(External/Eigen)
 include_directories(External/Json/include)
 
+add_subdirectory(External/blasfeo)
+add_subdirectory(External/hpipm)
+
 add_executable(MPCC
         main.cpp
         types.cpp
@@ -40,4 +43,4 @@ find_package(Python COMPONENTS Development)
 target_include_directories(MPCC PRIVATE ${Python_INCLUDE_DIRS})
 target_link_libraries(MPCC ${Python_LIBRARIES})
 
-target_link_libraries(MPCC ${CMAKE_SOURCE_DIR}/External/hpipm/lib/lib/libhpipm.a ${CMAKE_SOURCE_DIR}/External/blasfeo/lib/lib/libblasfeo.a m)
+target_link_libraries(MPCC hpipm blasfeo m)

C++/README.md

@@ -40,11 +40,11 @@ Currently, only one track and car model is implemented. However, adapting the pa
 
 ## Installation 
 
-To install all the dependencies run
+To download dependencies, either clone with the `--recurse-submodules` flag, or run the following after cloning:
 ```
-./install.sh
+git submodule update --init
 ```
-this clones `blasfeo`, `hpipm`, `matplotlip-cpp`, `nlohmann/json`, and `eigen`, from their git repo, and safes them in a folder External. Additionally, it installs `blasfeo` and `hpipm` in the same External folder, thus no admin rights are necessary.
+this clones `blasfeo`, `hpipm`, `matplotlip-cpp`, `nlohmann/json`, and `eigen`, from their git repo, and safes them in a folder External. `blasfeo` and `hpipm` are built by cmake while you are building this repository, with no admin permissions needed.
 
 Note that `matplotlib-cpp` does also require `Python-2.7` and `matplotlib`, for more details see (https://github.com/lava/matplotlib-cpp).