acados

Fast and embedded solvers for nonlinear optimal control.

acados forum

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

Installation

1. Initialize all submodules

   git submodule update --recursive --init
   

2. Download CasADi: To create external function for your problem, we suggest to use CasADi and use it from <acados_root_folder>/external. Depending on the environment you want to use to generate CasADi functions from, proceed with the corresponding paragraph (Python, MATLAB, Octave):

   Python

   cd external
   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 ..
   

   Matlab

   Put CasADi binaries into <acados_root_folder>/external/casadi-matlab :

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

   Octave version 4.4 or later

   Put CasADi binaries into <acados_root_folder>/external/casadi-octave :

   cd external
   wget -q -nc --show-progress https://github.com/casadi/casadi/releases/download/3.4.5/casadi-linux-octave-4.4.1-v3.4.5.tar.gz
   mkdir -p casadi-octave
   tar -xf casadi-linux-octave-4.4.1-v3.4.5.tar.gz -C casadi-octave
   

   Octave version 4.2 or earlier

   Put CasADi binaries into <acados_root_folder>/external/casadi-octave :

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

3. Build and install acados. Both a CMake and a Makefile based build system is supported at the moment. Please choose one and proceed with the corresponding paragraph.

   CMake

   Set the BLASFEO_TARGET in <acados_root_folder>/CMakeLists.txt. For a list of supported targets, we refer to https://github.com/giaf/blasfeo/blob/master/README.md . Install acados as follows

   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
   

   Make

   Set the BLASFEO_TARGET in <acados_root_folder>/Makefile.rule. For a list of supported targets, we refer to https://github.com/giaf/blasfeo/blob/master/README.md . Install acados as follows

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

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