Here is explained how to download, compile and use ACADO toolkit with CMake build system in Linux operating system. In particular, the focus is on Ubuntu distribution (or any Debian based distribution).
The instructions below are for building of the C++ library. If you are looking for the instructions on how to install and use the MATLAB interface, please click here.
For starters, one needs to download a few packages via apt-get package manager (you will need root privileges):
sudo apt-get install gcc g++ cmake git gnuplot doxygen graphviz
Please download the toolkit code. Our suggestion is to always clone stable branch:
git clone https://github.com/acado/acado.git -b stable ACADOtoolkit
We will refer to the ACADOtoolkit folder as <ACADO_ROOT>.
Go to ACADOtoolkit folder and create a build folder for an out-of-source build:
cd ACADOtoolkit mkdir build cd build
Run CMake to generate makefiles and start the building process:
cmake .. make
Check whether the installation was successful by running an example:
cd .. cd examples/getting_started ./simple_ocp
Now you can proceed to the documentation related page, where you can find out more about tutorials, source code documentation etc.
In case you want to compile ACADO in debug mode, you can run CMake like this:
cmake -DCMAKE_BUILD_TYPE=Debug ..
Alternative code download
If for any reason you cannot download the code using GIT or you do not want to use GIT (this is not encouraged!), you can download the code in a zip archive
Those archives are automatically updated after each successfully compiled and tested commit we push to the GIT repository.