README.md

acados

Fast and embedded solvers for nonlinear optimal control.

Installation

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

• soon: binaries for all operating systems available for download (see Releases)

Getting started

MATLAB

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:
savepath

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

ocp_qp_example.m

Python

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/ocp_nlp.py

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 http://files.casadi.org/download/3.4.0/casadi-linux-octave-v3.4.0.tar.gz
   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 http://files.casadi.org/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
   
   wget -q -nc http://files.casadi.org/download/3.4.0/casadi-linux-matlabR2014b-v3.4.0.tar.gz
   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
   ./autogen.sh
   ./configure --prefix=$(pwd)/swig_install --enable-silent-rules
   make
   make install > /dev/null    # quiet installation
   export PATH=$(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