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This directory contains the source code for the NTG software package. Version: 2.2.3 Release Date: 27 June 2022 Contact: murray@cds.caltech.edu INSTALLATION ------------ In order to install NTG, you will need to install two other software packages that are licensed separately: NPSOL and PGS. NPSOL is a numerical optimization library that uses sequential quadratic programming to solve nonlinear optimization problems. It is not in the public domain, but licenses are available at low cost for university and government usage. More information on NPSOL is available at http://www.sbsi-sol-optimize.com/asp/sol_product_npsol.htm PGS is the Practical Guide to Splines companion software. It is in the public domain and is included in the NTG distribution in the pgs/ subdirectory. By default, the PGS source code will be installed from the PGS web site using wget. If this doesn't work, you can grab the source code from one of the following web sites: http://pages.cs.wisc.edu/~deboor/pgs/ http://www.netlib.org/pppack/ (may require some renaming of files) This version of NTG has been tested under linux (RH 7.2) and should work in most vanilla unix environments. To install NTG: 1. Unpack ntg.tar into the directory of your choice 2. Edit Makefile and make sure everything is pointed where you want 3. Type 'make" to make all NTG libraries and programs 4. If everything works, type 'make install' to install the library and programs Example programs are available in the subdirectory 'examples/'. These programs should compile correctly after you have installed the software. You will need to edit the makefile to point to the properly directories for the include files and libraries. You will also need to have the PGS and NPSOL package installed on your system. See pgs/README for directions on installing the version of PGS distributed with NTG. NOTE FOR CALTECH CDS USERS: Caltech has a site license for NPSOL. You can get a copy of the source code from cds:~murray/src/npsol/. NOTE FOR OS X USERS (2 Jan 2013): XCode does not come with a FORTRAN compiler, so you will need to install gfortran and use a compatible version of gcc (may different than the system default). I have successfully gfortran 11.0.0 from the MacPorts distribution along with the XCode gcc compiler (Apple clang version 13.1.6) to get everything to compile. The following incantation in the main directory generates everytihng correctly: make F77=gfortran CFLAGS=-g FFLAGS="-g -fdefault-real-8 -fdefault-double-8" The flags setting the size of the real and double types are (apparently) required because of the use of doubles in the NTG source code for matrices that are treated as REAL in PGS. -- RMM, 3 Feb 2002 RMM, 2 Jan 2013 RMM, 27 Jun 2022 (updated for MacOS 12)
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Nonlinear trajectory generation library
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