mpc-walkgen

This software provides ...

Setup

Dependencies

The package mpc-walkgen depends on several packages which have to be available on your machine.

System tools:
- CMake (>=2.8)
- pkg-config
- usual compilation tools (GCC/G++, make, etc.)
Libraries
- boost (>=1.40)
- eigen (>=3.0.0)
- lssol (optional)
- qpoases (version 2.0 or 3.0beta, optional)

At least one of the two solvers (lssol or qpoases) must be installed.

Compile

There are two ways of compiling and installing the project.

one based on cmake and the jrl-cmakemodules
one based on qibuild (the project generation tool provided there: https://github.com/aldebaran/qibuild)

First, verify that the folder cmake (in the root folder of mpc-walkgen) is not empty. If it is, you just have to update the submodules. Do

git submodule init git submodule update

Compile based on jrl-cmakemodules

To compile this package, it is recommended to create a separate build directory:

mkdir _build
cd _build
cmake [OPTIONS] ..
make install

Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch.

Compile based on qibuild

once you have qibuild installed, simply run

qibuild configure
qibuild make

Installation of qpOASES.

qpOASES is an open-source C++ implementation of the online active set strategy. It is available at http://www.kuleuven.be/optec/software/qpOASES

Once installed, please run the unit test test-qpoases to ensure the solver has been installed correctly.

mpc-walkgen build-system will look for qpOASES at standard locations (such as /usr/local). If you chose some custom place (for instance, say you built the 2.0 version in its source tree located at /home/seb/src/qpOASES-2.0), you can tell it to cmake by setting the following options:

cd mpc-walkgen/_build
cmake .. \
  -DQPOASES_INCLUDE_DIRS=/home/seb/src/qpOASES-2.0/INCLUDE \
  -DQPOASES_LIBRARIES=/home/seb/src/qpOASES-2.0/SRC/libqpOASES.a

altrenatively, you can create a file named qpoases-config.cmake with content adapted from:

set(QPOASES_INCLUDE_DIRS "/home/seb/src/qpOASES-2.0/INCLUDE"
    CACHE PATH "")
set(QPOASES_LIBRARIES   /home/seb/src/qpOASES-2.0/SRC/libqpOASES.a  -lblas -llapack
    CACHE PATH "")
set(QPOASES_VERSION "2.0" CACHE INTERNAL "" FORCE)

and put somewhere cmake will find it such as in /usr/local/lib/cmake/QPOASES or indicate its path using cmake -DQPOASES_DIR=/home/seb/src/qpOASES-2.0 ..

/!\ PLEASE note that they are no quotes "" for the variables QPOASES_INCLUDE_DIRS and QPOASES_LIBRARIES (they are list). The following formulation is equivalent: set(QPOASES_LIBRARIES "/home/seb/src/qpOASES-2.0/SRC/libqpOASES.a;-lblas;-llapack" CACHE PATH "")

Some examples can be found in mpc-walkgen/share/qpoases/

Installation of lssol.

Lssol is a software package for solving constrained linear least-squares problems and convex quadratic programs. It is distributed by Standford Business Software Inc. http://www.sbsi-sol-optimize.com/asp/sol_product_lssol.htm

In order to link the lssol libraries with this project, it is necessary to install manually two extra files, located in share/lssol:

The header lssol.h, that defines methods to call lssol routines. (the install should be {include_folder}/lssol/lssol.h
The config file lssol.pc, that defines the compilation flags and link flags required. It is mandatory to customize it according to your installation. Please add the path to this file into your environment variable PKG_CONFIG_PATH

Once these steps done, you should be able to compile and link with lssol. Please run the unit test test-lssol to verify that the solver has been installed correctly.

ahornung / mpc-walkgen