diff -ur build_orig/qpOASES-2.0/SRC/make_linux.mk build/qpOASES-2.0/SRC/make_linux.mk
--- SRC/make_linux.mk	2010-04-16 19:31:22.020044623 -0700
+++ SRC/make_linux.mk	2010-04-16 19:32:14.551887153 -0700
@@ -38,11 +38,11 @@
 RM  = rm
 
 OBJEXT = o
-LIBEXT = a
+LIBEXT = so
 EXE = 
 DEF_TARGET = -o $@
 
-CPPFLAGS = -Wall -pedantic -Wshadow -Wfloat-equal -O3 -finline-functions -DLINUX
+CPPFLAGS = -Wall -pedantic -Wshadow -Wfloat-equal -O3 -finline-functions -DLINUX -fPIC
 #CPPFLAGS = -pg -g -D__DEBUG__
 
 QPOASES_LIB         =  -L${SRCDIR} -lqpOASES
diff -ur build_orig/qpOASES-2.0/SRC/Utils.cpp build/qpOASES-2.0/SRC/Utils.cpp
--- SRC/Utils.cpp	2010-04-16 19:31:22.020044623 -0700
+++ SRC/Utils.cpp	2010-04-16 19:33:37.050638266 -0700
@@ -31,6 +31,8 @@
  */
 
 
+#define __NO_COPYRIGHT__
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <math.h>