acados

Fast and embedded solvers for nonlinear optimal control.

General

acados offers interfaces to the programming languages C, Python, MATLAB and Octave
Documentation can be found on docs.acados.org
Forum: If you have any acados-related question, feel free to post on our forum discourse.acados.org.
Citing acados: references can be found here and here.

Installation

Initialize all submodules

git submodule update --recursive --init

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>/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>/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
```

`acados` interfaces

acados written in C and offers interfaces to the programming languages C, Python, MATLAB and Octave.

`C` interface

This includes all functionality in <acados_root>/interfaces/acados_c.
Documentation can be found here: C API

`MATLAB` and `Octave` interface

The interface is written in MEX
It deals with the problem formulation described in this PDF
To get started
- install acados as described above
- Octave users: provide a CasADi version in <acados_root>/external/casadi_octave/. We recommend version 3.4.5. For Matlab, a CasADi version should be provided in <acados_root>/external/casadi_matlab/, however, this is done automatically when using the examples in the getting_started folder. On Linux machines with Octave 4.4.1. or later this can be done as follows:
```
  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
```
- Linux and MacOS users:
  - in a terminal navigate to <acados_root>/examples/acados_matlab_octave/getting_started
  - run source env.sh and start Matlab/Octave
- Windows users:
  - start Matlab
  - run acados_examples_env.m in <acados_root>/examples/acados_matlab_octave
- enjoy the examples in <acados_root>/examples/acados_matlab_octave/getting_started
More documentation can be found on docs.acados.org/interfaces/

`Python` interface

The interface is based on templated C code, header files and a Makefile, which are rendered with the templating engine Tera.
The generated C code can be easily deployed on embedded platforms.
The same problem formulation as for the MATLAB interface is used (see here).
The ctypes package is used to interact with the rendered Code.
CasADi is required and is downloaded automatically, when installing the Python interface using pip
More documentation can be found on docs.acados.org/interfaces/