ocp-modules

This library provides a set of modules to assemble optimal control problems (OCPs) by generating symbolic expressions based on casadi.

Installation

For Users

ocp-modules is (SOON) available via pip:

pip3 install --user ocp-modules

For Developers

1. Install setuptools and virtualenv:

   pip3 install --user setuptools virtualenv

2. Create a new virtual environment in the folder venv and source it:

   git clone <this_repo>
   cd <this_repo>
   python3 -m virtualenv venc
   source ./venv/bin/activate

3. Install ocp-modules via symlink into the virtual environment

   cd <this_repo>
   pip3 install -e .

A note regarding CasADi

Casadi can make use of proprietary solvers such as HSL_MA57 Follow the instructions obtaining_HSL to install them and modify the solver options to use the built-in default.

Common issues with HSL solvers:

• Cannot find libhsl.so. In this case, manually create a symlink libcoinhsl.so -> libhsl.so in /usr/lib
• Failed to load libmetis.so: It is hard to get a working instance of metis (the version packaged in Ubuntu 18.04 is not compatible). It seems to work without, but spams into stdout.

Running the examples

Run examples via:

./examples/<folder>/<script>.py