Trajectory Optimization

A toolbox for trajectory optimization of dynamical systems

Installation

This toolbox uses pybind11 to compile C++ code and use it in python. The following setup has been test only while using Conda envs.

• Install Pybind11:

  conda install pybind11

• Compile OpenBLAS:

  • Prequisits: libpthread, libgfortran, gcc-fortran
  • https://github.com/xianyi/OpenBLAS.git
  • Change USE_THREAD to (de-)activate multi-threading

  USE_THREAD=0 C=gcc FC=gfortran NO_AFFINITY=1 NO_SHARED=1 COMMON_OPT=" -O2 -march=native "  make

  • Edit local CMakeLists.txt to reflect the path of OpenBLAS

• Configure Armadillo:

  • http://arma.sourceforge.net/download.html
  • Only configure, do not make

  ./configure

  • Edit local CMakeLists.txt to reflect the path of Armadillo

• Install Python Package:

  pip install -e .