二次规划求解库安装教程

1、Eigen安装

sudo apt install libeigen3-dev

2、CppAD 安装

sudo apt install cppad

 

CppAD需要调用系统中已经安装好的优化求解器，如非线性优化器ipopt、Gurobi、GLPK。

3、Ipopt安装

3.1  install Ipopt on ARM environment  

## Inatall CPPAD & Fortran   
$ sudo apt-get install cppad gfortran  

## Get ipopt source code   
Download Ipopt-3.12.8.tgz from https://www.coin-or.org/download/source/Ipopt/  
Untar the package and cd into the "Ipopt-3.12.8" folder  

## Step by step   
$ cd CUSTOM_PATH/Ipopt-3.12.8/ThirdParty/Blas  
$ ./get.Blas    
$ cd ../Lapack  
$ ./get.Lapack  
$ cd ../Mumps  
$ ./get.Mumps  
$ cd ../Metis  
$ ./get.Metis  
   
$ cd CUSTOM_PATH/Ipopt-3.12.8  
$ mkdir build  
$ cd build  
$ ../configure --build=arm-linux  
$ make -j4  
$ make install  
    
## Copy install files into specific directory 
$ cd CUSTOM_PATH/Ipopt-3.12.8/build  
$ sudo cp -a include/* /usr/include/.  
$ sudo cp -a lib/* /usr/lib/.  
  
## Trouble Shooting
If something wrong like: "redefinition of ‘bool CppAD::is_pod()"  
Modify the file:  
$ sudo gedit /usr/include/cppad/configure.hpp   
Change line from:  
define CPPAD_SIZE_T_NOT_UNSIGNED_INT 1  
to 
define CPPAD_SIZE_T_NOT_UNSIGNED_INT 0

 

## Inatall CPPAD & Fortran   
$ sudo apt-get install cppad gfortran  

## Get ipopt source code   
Download Ipopt-3.12.8.tgz from https://www.coin-or.org/download/source/Ipopt/  
Untar the package and cd into the "Ipopt-3.12.8" folder  

## Step by step   
$ cd CUSTOM_PATH/Ipopt-3.12.8/ThirdParty/Blas  
$ ./get.Blas    
$ cd ../Lapack  
$ ./get.Lapack  
$ cd ../Mumps  
$ ./get.Mumps  
$ cd ../Metis  
$ ./get.Metis  
   
$ cd CUSTOM_PATH/Ipopt-3.12.8  
$ mkdir build  
$ cd build  
$ ../configure --build=arm-linux  
$ make -j4  
$ make install  
    
## Copy install files into specific directory 
$ cd CUSTOM_PATH/Ipopt-3.12.8/build  
$ sudo cp -a include/* /usr/include/.  
$ sudo cp -a lib/* /usr/lib/.  
  
## Trouble Shooting
If something wrong like: "redefinition of ‘bool CppAD::is_pod()"  
Modify the file:  
$ sudo gedit /usr/include/cppad/configure.hpp   
Change line from:  
define CPPAD_SIZE_T_NOT_UNSIGNED_INT 1  
to 
define CPPAD_SIZE_T_NOT_UNSIGNED_INT 0

 

2.2 install Ipopt on x86 environment  

## Inatall CPPAD & Fortran  
$ sudo apt-get install cppad gfortran  
    
## Get ipopt source code    
Download Ipopt-3.12.8.tgz from https://www.coin-or.org/download/source/Ipopt/  
Untar the package and cd into the "Ipopt-3.12.8" folder  
  
## Step by step   
$ cd CUSTOM_PATH/Ipopt-3.12.8/ThirdParty/Blas  
$ ./get.Blas    
$ cd ../Lapack  
$ ./get.Lapack  
$ cd ../Mumps  
$ ./get.Mumps  
$ cd ../Metis  
$ ./get.Metis
$ cd ../ASL
$ ./get.ASL
   
$ cd CUSTOM_PATH/Ipopt-3.12.8  
$ mkdir build  
$ cd build  
$ ../configure  
$ make -j4  
$ sudo make install  
    
## Copy install files into specific directory 
$ cd CUSTOM_PATH/Ipopt-3.12.8/build  
$ sudo cp -a include/* /usr/include/.  
$ sudo cp -a lib/* /usr/lib/.

 

#1、Inatall CPPAD & Fortran  
sudo apt install cppad gfortran  

#2、Get ipopt source code 
#Download Ipopt-3.12.8.tgz from https://www.coin-or.org/download/source/Ipopt/  
#Untar the package and cd into the "Ipopt-3.12.8" folder  
sudo apt install wget #用于下载东西
sudo apt install zip #用于解压
wget https://www.coin-or.org/download/source/Ipopt/Ipopt-3.12.8.zip -O Ipopt-3.12.8.zip
unzip Ipopt-3.12.8.zip

#3、Step by step   
cd Ipopt-3.12.8/ThirdParty/Blas  
./get.Blas    
cd ../Lapack  
./get.Lapack  
cd ../Mumps  
./get.Mumps  
cd ../Metis  
./get.Metis
cd ../ASL
./get.ASL
   
#4、移动到顶层目录，CUSTOM_PATH/Ipopt-3.12.8,开始编译
cd ..
cd ..
mkdir build  
cd build  
../configure  
make 
sudo make install
   
#6、Copy install files into specific directory  
sudo cp -a include/* /usr/include/.  
sudo cp -a lib/* /usr/lib/.

 

4、osqp安装

这里默认git的是最新版本，apollo默认用的是0.5.0版本，可以切换0.6.0。0.6.0更新了osqp_setup, clone慢可以先用gitee保存

git clone --recursive https://github.com/oxfordcontrol/osqp -b v0.6.0
cd osqp
mkdir build
cd build
cmake -G "Unix Makefiles" ..
cmake --build .
make
sudo make install
sudo make uninstall #卸载

 

5、osqp-eigen安装

git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build
cd build
cmake -G "Unix Makefiles" ..
cmake --build .
make
sudo make install
sudo make uninstall

 

6、qpOASES

git clone https://github.com/coin-or/qpOASES.git -b releases/3.2.1
cd qpOASES/
mkdir build
cd build
cmake ..
make 
sudo make install #安装到系统目录
#卸载
sudo xargs rm < install_manifest.txt