for Constrained Nonlinear Optimization
cmake: http://www.cmake.org (Version 3.2 or better)
Ipopt: https://projects.coin-or.org/Ipopt
qpOASES: https://projects.coin-or.org/qpOASES/wiki/WikiStart
The qpOASES library included is not compiled with HSL http://www.hsl.rl.ac.uk/catalogue/ linear solvers.
If you compile qpOASES with HSL solvers, you just need to replace the libraries libqpOASES.dylib (for MacOS) and libqpOASES.so (for Linux) found under ThirdParty/qpOASES-3.2.1/bin.
Eigen: https://github.com/eigenteam/eigen-git-mirror
Gurobi: http://www.gurobi.com
Cplex: https://www-01.ibm.com/software/commerce/optimization/cplex-optimizer/
Follow these simple instructions:
-
cd SQPhotstart -
If your solver is not installed in a default location, you need to add the following to your
~/.bash_profile(edit or create the file namedbash_profileunder your home and add the following lines):
export SOLVERNAME_ROOT_DIR="your_location", whereyour_locationcontains the corresponding include/headers and lib/libraries.
For instance:
export IPOPT_ROOT_DIR="/Users/yourname/Dev/CoinIpopt/build"
Note: If Cplex and Gurobi were installed using the standard installer, Cmake should automatically locate the latest version on your system, no need to add anything to your bash_profile.
- You're now ready to compile everything, just enter:
-
mkdir build -
cd build -
cmake ..
All dependencies are switched off by default, except for Ipopt, to enable a solver that is installed on your system,
append the flag -D$Solvername$=ON, e.g., cmake -DGurobi=ON -DCplex=ON ...
Note: To build an Xcode project append -G Xcode to the command above
make -j4
This will build the solver library and the tests under RestartSQP/test.
The corresponding binaries will then appear under RestartSQP/bin/Release.