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acados

Travis Status Appveyor status codecov

Fast and embedded optimal control problem solvers.

Installation

If you are on Ubuntu (tested with 16.04), you can run ./install.sh. You can also follow the manual installation instructions below.

Getting started

MATLAB

First, add CasADi and acados to your MATLAB path. From a MATLAB command window

addpath <path_to_acados_root_folder>/external/casadi-matlabR2014b-v3.1.1
addpath <path_to_acados_installation_folder>
% To permanently add these paths:
savepath

Run an acados example, from <path_to_acados_root_folder>/examples/matlab/:

ocp_nlp_example.m

Python

acados only supports Python3. Add CasADi and acados to the PYTHONPATH environment variable (add those lines to your .bashrc or .zshrc to set the paths permanently):

export PYTHONPATH=<path_to_acados_root_folder>/external/casadi-py35-np1.9.1-v3.1.1:$PYTHONPATH
export PYTHONPATH=<path_to_acados_installation_folder>:$PYTHONPATH

To run a Python example from the acados root folder:

python examples/python/ocp_nlp.py

Manual Installation

Otherwise, follow the steps below:

  1. Install the dependencies:

    sudo apt-get install libgsl0-dev liblapack-dev libopenblas-dev liboctave-dev libeigen3-dev python3-tk
sudo apt-get install byacc # for swig
sudo apt-get install python3-scipy python3-numpy python3-matplotlib

  2. Download CasADi into the <acados_root_folder>/external folder:

    cd external
wget -q -nc http://files.casadi.org/3.1.1/linux/casadi-octave-v3.1.1.tar.gz
mkdir -p casadi-octave-v3.1.1
tar -xf casadi-octave-v3.1.1.tar.gz -C casadi-octave-v3.1.1

wget -q -nc http://files.casadi.org/3.1.1/linux/casadi-py35-np1.9.1-v3.1.1.tar.gz
mkdir -p casadi-py35-np1.9.1-v3.1.1
tar -xf casadi-py35-np1.9.1-v3.1.1.tar.gz -C casadi-py35-np1.9.1-v3.1.1

wget -q -nc https://sourceforge.net/projects/casadi/files/CasADi/3.1.1/linux/casadi-matlabR2014b-v3.1.1.tar.gz
mkdir -p casadi-matlabR2014b-v3.1.1
tar -xf casadi-matlabR2014b-v3.1.1.tar.gz -C casadi-matlabR2014b-v3.1.1
cd ..

  3. Initialize all submodules

    git submodule update --recursive --init

  4. Build and install swig. Make sure you don't have an older version installed (e.g. via the package system):

    cd external/swig
./autogen.sh
./configure --prefix=$(pwd)/swig_install --enable-silent-rules
make
make install > /dev/null    # quiet installation
export PATH=$(pwd):$PATH    # add swig to PATH
cd ../.. # back to acados root folder

  5. Build and install acados. By default, acados is installed in $HOME/local/lib. If you want to install acados elsewhere, pass -D ACADOS_INSTALL_DIR=<path_to_acados_installation_folder> to cmake below.

    mkdir -p build
cd build
cmake -D SWIG_MATLAB=1 -D SWIG_PYTHON=1 ..   # set SWIG_MATLAB=0 if you don't have MATLAB installed
make install