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acados Merge pull request #314 from bnovoselnik/ooqp_revival Aug 14, 2018
cmake linked ooqp with lapack Jul 24, 2018
docs Merge parent changes May 23, 2018
examples updated nonlinear_chain_ocp_nlp Aug 15, 2018
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webpage-source Update Installation subpage to point to GitHub Releases Apr 19, 2018 CMake for qpOASES (#94) Jun 14, 2017
.appveyor.yml Do actually install the files on Appveyor Apr 19, 2018
.clang-format clang-format: allow multiple empty lines May 17, 2018
.codecov.yml fix codecov.yml May 10, 2017
.gitattributes Another small change to .gitattributes Jul 22, 2016
.gitignore Fix a few small things for Simulink on Linux Apr 9, 2018
.gitmodules merged with blessed-newcore and made gnsf1/2 work Mar 20, 2018
.travis.yml Travis: Add debug information on cache issue Jun 18, 2018 allow unauthenticated packages to bypass travis error Jul 3, 2018
CMakeConfig.txt Rewrite the installation system of acados Oct 19, 2017
CMakeLists.txt fixed hpmpc Aug 13, 2018
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Makefile.rule working on parallelize multiple shooting with openmp Jul 19, 2018 updated install scripts and readme file (bumped casadi version) May 4, 2018 changed tabs into whitespaces Jun 14, 2018
convention_about_external_functions.txt merged from blessed master Apr 27, 2018 fixed lint Jun 14, 2018 updated install scripts and readme file (bumped casadi version) May 4, 2018 Add extra TODOs during hackathon brainstorming Aug 30, 2017


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Fast and embedded optimal control problem solvers.


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

Getting started


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

addpath <path_to_acados_root_folder>/external/casadi-matlabR2014b-v3.4.0
addpath <path_to_acados_installation_folder>
% To permanently add these paths:

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



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-v3.4.0-64bit:$PYTHONPATH
export PYTHONPATH=<path_to_acados_installation_folder>:$PYTHONPATH

To run a Python example from the acados root folder:

python examples/python/

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
    mkdir -p casadi-octave-v3.4.0
    tar -xf casadi-linux-octave-v3.4.0.tar.gz -C casadi-octave-v3.4.0
    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 ..
  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
    ./configure --prefix=$(pwd)/swig_install --enable-silent-rules
    make install > /dev/null    # quiet installation
    export PATH=$(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