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Fast and embedded solvers for nonlinear optimal control
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ci running unit tests also on release Sep 20, 2018
external update blasfeo Jan 24, 2019
interfaces fix Mar 5, 2019
test add external cost to acados_matlab (used in the linear mass spring mo… Jan 31, 2019
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Makefile edit for openmp Jan 30, 2019
Makefile.rule add -std=c99 to cflags in make (TODO fix the loop indeces to not need… Feb 1, 2019 Update Mar 21, 2019 removed python ctypes interface Nov 13, 2018 moved unused discrete_model folder to broken. added Feb 14, 2019
convention_about_external_functions.txt fixed lint Jun 14, 2018 gnsf: added flag to import model matrices manually Feb 8, 2019


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Fast and embedded solvers for nonlinear optimal control.

Optional requirements

Some functionalities in acados require CasADi (version 3.4.0) to be installed on your system. To install CasADi, you can follow the installation instructions here


Both a CMake and a Makefile based build system are supported at the moment.

  1. Initialize all submodules

    git submodule update --recursive --init
  2. Download CasADi into the <acados_root_folder>/external folder:

    cd external

    and, depending on your preferred CasADi interface (Python, MATLAB, Octave):

    wget -q -nc
    mkdir -p casadi-py35-v3.4.0-64bit
    tar -xf casadi-linux-py35-v3.4.0-64bit.tar.gz -C casadi-py35-v3.4.0-64bit
    wget -q -nc
    mkdir -p casadi-matlabR2014b-v3.4.0
    tar -xf casadi-linux-matlabR2014b-v3.4.0.tar.gz -C casadi-matlabR2014b-v3.4.0
    cd ..
    wget -q -nc
    mkdir -p casadi-octave-v3.4.0
    tar -xf casadi-linux-octave-v3.4.0.tar.gz -C casadi-octave-v3.4.0
  3. Build and install acados. When using the CMake-based build sytem:

    mkdir -p build
    cd build
    cmake .. (with optional arguments e.g. -DACADOS_WITH_OSQP=OFF/ON -DACADOS_INSTALL_DIR=<path_to_acados_installation_folder>)
    make install

    When using the Makefile-based build sytem:

    make acados_shared
    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:<path_to_acados_folder>/lib
    make examples_c
    make run_examples_c
  • soon: binaries for all operating systems available for download (see Releases)
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