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Fast and embedded solvers for nonlinear optimal control
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README.md

acados

Travis Status Appveyor status codecov

Fast and embedded solvers for nonlinear optimal control.

acados forum

If you have any acados-related question, feel free to post on our forum.

Installation

  1. Initialize all submodules

    git submodule update --recursive --init
    
  2. Download CasADi: To create external function for your problem, we suggest to use CasADi and use it from <acados_root_folder>/external. Depending on the environment you want to use to generate CasADi functions from, proceed with the corresponding paragraph (Python, MATLAB, Octave):

    Python

    cd external
    wget -q -nc --show-progress https://github.com/casadi/casadi/releases/download/3.4.0/casadi-linux-py35-v3.4.0-64bit.tar.gz
    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 ..
    

    Matlab

    Put CasADi binaries into <acados_root_folder>/external/casadi-matlab :

    cd external
    wget -q -nc --show-progress https://github.com/casadi/casadi/releases/download/3.4.0/casadi-linux-matlabR2014b-v3.4.0.tar.gz
    mkdir -p casadi-matlab
    tar -xf casadi-linux-matlabR2014b-v3.4.0.tar.gz -C casadi-matlab
    cd ..
    

    Octave version 4.4 or later

    Put CasADi binaries into <acados_root_folder>/external/casadi-octave :

    cd external
    wget -q -nc --show-progress https://github.com/casadi/casadi/releases/download/3.4.5/casadi-linux-octave-4.4.1-v3.4.5.tar.gz
    mkdir -p casadi-octave
    tar -xf casadi-linux-octave-4.4.1-v3.4.5.tar.gz -C casadi-octave
    

    Octave version 4.2 or earlier

    Put CasADi binaries into <acados_root_folder>/external/casadi-octave :

    cd external
    wget -q -nc --show-progress https://github.com/casadi/casadi/releases/download/3.4.0/casadi-linux-octave-v3.4.0.tar.gz
    mkdir -p casadi-octave
    tar -xf casadi-linux-octave-v3.4.0.tar.gz -C casadi-octave
    cd ..
    
  3. Build and install acados. Both a CMake and a Makefile based build system is supported at the moment. Please choose one and proceed with the corresponding paragraph.

    CMake

    Set the BLASFEO_TARGET in <acados_root_folder>/CMakeLists.txt. For a list of supported targets, we refer to https://github.com/giaf/blasfeo/blob/master/README.md . Install acados as follows

    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
    

    Make

    Set the BLASFEO_TARGET in <acados_root_folder>/Makefile.rule. For a list of supported targets, we refer to https://github.com/giaf/blasfeo/blob/master/README.md . Install acados as follows

    make shared_library
    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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