Installation#

Linux/Mac#

Prerequisites#

We assume you have: git, make, cmake installed on your system.

Clone acados#

Clone acados and its submodules by running:

git clone https://github.com/acados/acados.git
cd acados
git submodule update --recursive --init

Build and install `acados`#

A CMake and a Makefile based build system is available in acados. Note that only the CMake build system is tested using CI and is thus recommended. Please choose one and proceed with the corresponding paragraph.

CMake (recommended)#

Install acados as follows:

mkdir -p build
cd build
cmake -DACADOS_WITH_QPOASES=ON ..
# add more optional arguments e.g. -DACADOS_WITH_DAQP=ON, a list of CMake options is provided below
make install -j4

CMake options:#

Below is a list of CMake options available for configuring the acados build. These options can be passed to the cmake command using the -D flag, e.g., cmake -DOPTION_NAME=VALUE ... Adjust these options based on your requirements.

Option Name	Description	Default Value
`ACADOS_WITH_QPOASES`	Compile acados with optional QP solver qpOASES	`OFF`
`ACADOS_WITH_DAQP`	Compile acados with optional QP solver DAQP	`OFF`
`ACADOS_WITH_QPDUNES`	Compile acados with optional QP solver qpDUNES	`OFF`
`ACADOS_WITH_OSQP`	Compile acados with optional QP solver OSQP	`OFF`
`ACADOS_WITH_HPMPC`	Compile acados with optional QP solver HPMPC	`OFF`
`ACADOS_WITH_QORE`	Compile acados with optional QP solver QORE (experimental)	`OFF`
`ACADOS_WITH_OOQP`	Compile acados with optional QP solver OOQP (experimental)	`OFF`
`BLASFEO_TARGET`	BLASFEO Target architecture, see BLASFEO repository for more information. Possible values include: `X64_AUTOMATIC`, `GENERIC`, `X64_INTEL_SKYLAKE_X`, `X64_INTEL_HASWELL`, `X64_INTEL_SANDY_BRIDGE`, `X64_INTEL_CORE`, `X64_AMD_BULLDOZER`, `ARMV8A_APPLE_M1`, `ARMV8A_ARM_CORTEX_A76`, `ARMV8A_ARM_CORTEX_A73`, `ARMV8A_ARM_CORTEX_A57`, `ARMV8A_ARM_CORTEX_A55`, `ARMV8A_ARM_CORTEX_A53`, `ARMV7A_ARM_CORTEX_A15`, `ARMV7A_ARM_CORTEX_A9`, `ARMV7A_ARM_CORTEX_A7`	`X64_AUTOMATIC`
`LA`	Linear algebra optimization level for BLASFEO	`HIGH_PERFORMANCE`
`ACADOS_WITH_SYSTEM_BLASFEO`	Use BLASFEO found via `find_package(blasfeo)` instead of compiling it	`OFF`
`HPIPM_TARGET`	HPIPM Target architecture. Possible values: `AVX`, `GENERIC`	`GENERIC`
`ACADOS_WITH_OPENMP`	OpenMP parallelization	`OFF`
`ACADOS_NUM_THREADS`	Number of threads for OpenMP parallelization within one NLP solver. If not set, `omp_get_max_threads` will be used to determine the number of threads. If multiple solves should be parallelized, e.g. with an `AcadosOcpBatchSolver` or `AcadosSimBatchSolver`, set this to 1.	Not set
`ACADOS_SILENT`	No console status output	`OFF`
`ACADOS_DEBUG_SQP_PRINT_QPS_TO_FILE`	Print QP inputs and outputs to file in SQP	`OFF`
`CMAKE_BUILD_TYPE`	Build type (e.g., Release, Debug, etc.)	`Release`
`ACADOS_UNIT_TESTS`	Compile unit tests	`OFF`
`ACADOS_EXAMPLES`	Compile C examples	`OFF`
`ACADOS_OCTAVE`	Octave interface CMake tests	`OFF`
`ACADOS_PYTHON`	Python interface CMake tests (Note: Python interface installation is independent of this)	`OFF`
`BUILD_SHARED_LIBS`	Build shared libraries	`ON` (non-Windows)

For more details on specific options, refer to the comments in the CMakeLists.txt file.

Make (not recommended)#

NOTE: This build system is not actively tested and might be removed in the future! It is strongly recommended to use the CMake build system.

Set the BLASFEO_TARGET in <acados_root_folder>/Makefile.rule. Since some of the C examples use qpOASES, also set ACADOS_WITH_QPOASES = 1 in <acados_root_folder>/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

NOTE: On MacOS DYLD_LIBRARY_PATH should be used instead of LD_LIBRARY_PATH.

Interfaces installation#

For the installation of Python/MATLAB/Octave interfaces, please refer to the Interfaces page.

Windows 10+ (WSL)#

Prerequisites#

Install Ubuntu on WSL using the Microsoft Store.
Start Ubuntu, the shell should pop up.
Update apt

apt-get update

Install cmake, build-essentials, pip, virtualenv

apt-get install cmake build-essential python3-pip python3-virtualenv

Clone, Build and Install acados#

Navigate to the directory where you would like to install acados. For example

cd /mnt/c/Users/Documents/

Follow the Linux/Mac workflow above and install acados using cmake.

Interfaces installation#

For the installation of Python/MATLAB/Octave interfaces, please refer to the Interfaces page.

Windows (for use with MATLAB)#

Disclaimer: The high-level interfaces on Windows are not tested on Github Actions.

Prerequisites#

You should have the following software installed on your machine.

Recent MATLAB version
CMake for Windows
Windows Git Client

Clone acados#

Clone acados and its submodules by running the following from your Git shell:

git clone https://github.com/acados/acados.git
cd acados
git submodule update --recursive --init

Prepare acados build (minGW)#

Install mingw from MATLAB add-ons manager.
Add the following paths to your environment variable PATH, using the Windows GUI. To open the GUI press Windows key and type “env”.

The path to the cmake.exe file. The default location is C:\Program Files\CMake\bin.
The path to the MATLAB installation of mingw32-make.exe file. The default location is C:\ProgramData\MATLAB\SupportPackages\R2018a\3P.instrset\mingw_w64.instrset\bin.

You can check whether the modification to PATH variable is in effect by executing in cmd echo %PATH% or in PowerShell echo $env:path.

Automatic build of acados (minGW)#

Run the following in MATLAB in the folder <acados_root_folder>/interfaces/acados_matlab_octave:

acados_install_windows()

This will build acados with the standard options and install the external dependencies; casadi and terra renderer

The acados_install_windows(CMakeConfigString) script can take an optional argument:

CMake configuration string: Configuration options for CMake. The default is -DBUILD_SHARED_LIBS=OFF -DACADOS_WITH_OSQP=OFF

Build acados manually (minGW)#

If the automated install procedure does not work acados can be built manually using these steps.

Run the following from a powershell in the <acados_root_folder>:

$ACADOS_INSTALL_DIR=$(pwd)
mkdir -p build
cd build

Configure the cmake command if you want to use other external QP solvers or change the HPIPM and BLASFEO targets.

cmake.exe -G "MinGW Makefiles" -DACADOS_INSTALL_DIR="$ACADOS_INSTALL_DIR" -DBUILD_SHARED_LIBS=OFF -DACADOS_WITH_OSQP=ON ..
# useful options to add above:
# -DACADOS_WITH_QPOASES=ON/OFF -DACADOS_WITH_OSQP=ON/OFF -DACADOS_WITH_QPDUNES=ON/OFF ..
# -DBLASFEO_TARGET=GENERIC -DHPIPM_TARGET=GENERIC
# NOTE: check the output of cmake: -- Installation directory: should be <acados_root_folder>,
#     if this is not the case, set -DACADOS_INSTALL_DIR=<acados_root_folder> explicitly above.

In a powershell, navigate to the folder <acados_root_folder>/build and execute

mingw32-make.exe -j4
mingw32-make.exe install

Try a MATLAB example#

Open MATLAB
select MinGW compiler using mex
go to <acados_root_folder>/examples/acados_matlab_octave
run acados_env_variables_windows
go to the getting_started subfolder
run minimal_example_ocp

Workflow with Microsoft Visual C Compiler (MSVC)#

Note: this workflow is preliminary and not thoroughly tested. (Tested once with MSVC 2017 and MSVC 2019 on May 2021)

clone acados (see above)
use the Developer Command Prompt for VS, navigate to <acados_root_folder>/build and run

cmake -G "Visual Studio 15 2017 Win64" -DBLASFEO_TARGET=GENERIC -DACADOS_INSTALL_DIR=.. -DBUILD_SHARED_LIBS=OFF ..
# respectively for MVSC 2019
# cmake -G "Visual Studio 16 2019" -DBLASFEO_TARGET=GENERIC -DACADOS_INSTALL_DIR=.. -DBUILD_SHARED_LIBS=OFF ..
cmake --build . -j10 --target INSTALL --config Release

In MATLAB, run mex -setup C and select the same MSVC version.
Try a MATLAB example (see above).

Installation

Contents

Installation#

Linux/Mac#

Prerequisites#

Clone acados#

Build and install acados#

CMake (recommended)#

CMake options:#

Make (not recommended)#

Interfaces installation#

Windows 10+ (WSL)#

Prerequisites#

Clone, Build and Install acados#

Interfaces installation#

Windows (for use with MATLAB)#

Prerequisites#

Clone acados#

Prepare acados build (minGW)#

Automatic build of acados (minGW)#

Build acados manually (minGW)#

Try a MATLAB example#

Workflow with Microsoft Visual C Compiler (MSVC)#

Build and install `acados`#