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Fast and embedded solvers for nonlinear optimal control
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zanellia Merge pull request #390 from zanellia/quick_fix_templates
use tera from MATLAB and fix bug in Makefile when npd = 0
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acados fix bug to disc dyn hessian May 15, 2019
ci running unit tests also on release Sep 20, 2018
cmake temporarely disable lint Dec 11, 2018
docs fix notation for terminal ingredients May 17, 2019
examples fix bug to disc dyn hessian May 15, 2019
experimental update README Mar 5, 2019
external update blasfeo May 9, 2019
interfaces fix circular constraint radius May 22, 2019
swig minimal integrator implementation and wrapper Oct 19, 2018
test fix tests cmake May 13, 2019
webpage-source Update Installation subpage to point to GitHub Releases Apr 19, 2018 CMake for qpOASES (#94) Jun 14, 2017
.appveyor.yml removed deployment in appveyor Aug 22, 2018
.clang-format clang-format: allow multiple empty lines May 17, 2018
.codecov.yml try disabling codecov commit status Aug 21, 2018
.gitattributes Another small change to .gitattributes Jul 22, 2016
.gitignore update gitignore Oct 19, 2018
.gitmodules switched osqp branch to develop, bumped osqp, disabled internal PROFI… Dec 18, 2018
.travis.yml revert to xcode9.4 Mar 21, 2019
CMakeConfig.txt Rewrite the installation system of acados Oct 19, 2017
CMakeLists.txt returned -std=c99 flag in acados Dec 18, 2018
COPYING CMake for qpOASES (#94) Jun 14, 2017
CPPLINT.cfg Change brace style to Allman Apr 19, 2018
LICENSE Initial commit Apr 27, 2015
Makefile regularize: rename reg_conv => reg_convexify Mar 25, 2019
Makefile.osqp moved OSQP build system from Makefile to Makefile.osqp Jan 16, 2019
Makefile.rule add -std=c99 to cflags in make (TODO fix the loop indeces to not need… Feb 1, 2019 doc for setting up doxygen with conda Apr 9, 2019 removed python ctypes interface Nov 13, 2018 moved unused discrete_model folder to broken. added Feb 14, 2019 used acados_format, fixed cmake Nov 9, 2018
convention_about_external_functions.txt update convention_about_external_functions with blasfeo-based irk hes… May 13, 2019 fixed lint Jun 14, 2018 added bash script to count functions to be documented Mar 28, 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 --show-progress
    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
    cd ..
    wget -q -nc --show-progress
    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 --show-progress
    mkdir -p casadi-octave-v3.4.0
    tar -xf casadi-linux-octave-v3.4.0.tar.gz -C casadi-octave-v3.4.0
    cd ..
  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

If the compilation/linking fails because -lblas or -llapack can not be found, you might want to do:

sudo apt-get install libblas-dev liblapack-dev
  • soon: binaries for all operating systems available for download (see Releases)
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