Fast and embedded solvers for nonlinear optimal control.

Some functionalities in acados require CasADi (version 3.4.0) to be installed on your system. To install CasADi, you can follow the installation instructions here

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

Both a CMake and a Makefile based build system are supported at the moment.

1. Initialize all submodules

   git submodule update --recursive --init
   

2. Download CasADi into the <acados_root_folder>/external folder:

   cd external
   

   and, depending on your preferred CasADi interface (Python, MATLAB, Octave):

   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 ..
   

   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-matlabR2014b-v3.4.0
   tar -xf casadi-linux-matlabR2014b-v3.4.0.tar.gz -C casadi-matlabR2014b-v3.4.0
   cd ..
   

   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-v3.4.0
   tar -xf casadi-linux-octave-v3.4.0.tar.gz -C casadi-octave-v3.4.0
   cd ..
   

3. Build and install acados. When using the CMake-based build sytem:

   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
   

   When using the Makefile-based build sytem:

   make acados_shared
   export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:<path_to_acados_folder>/lib
   make examples_c
   make run_examples_c
   

If the compilation/linking fails because -lblas or -llapack can not be found, you might want to do:

sudo apt-get install libblas-dev liblapack-dev

• soon: binaries for all operating systems available for download (see Releases) Minh's edit

cmake.exe -G "MSYS Makefiles" -D BLASFEO_TARGET=GENERIC -D HPIPM_TARGET=GENERIC -D ACADOS_INSTALL_DIR=.. -DBUILD_SHARED_LIBS=OFF -DACADOS_EXAMPLES=OFF -DACADOS_UNIT_TESTS=OFF ..

cmake .. -G "MSYS Makefiles" -DBLASFEO_TARGET=GENERIC -DHPIPM_TARGET=GENERIC -DACADOS_INSTALL_DIR=/d/acados-install -DBUILD_SHARED_LIBS=OFF -DACADOS_MATLAB=ON -DACADOS_WITH_OPENMP=ON -DACADOS_NUM_THREADS=16

Error && fix

compiling C:\acados\examples\acados_matlab_octave\..\..\interfaces\acados_matlab_octave\ocp_create.c
Building with 'MinGW64 Compiler (C)'.
Error using mex
C:\acados\examples\acados_matlab_octave\..\..\lib\qpOASES_e.lib(MessageHandling.c.obj):MessageHandling.c:(.text+0x93):
undefined reference to `__imp___acrt_iob_func'

mingw-w64-x86_64-crt-git-5.0.0.5002.34a7c1c0-1 \\\
mingw-w64-x86_64-headers-git-5.0.0.5002.34a7c1c0-1 

in this link

https://repo.msys2.org/mingw/x86_64/