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`:

    .. code-block:: bash

        pip3 install --user ocp-modules

For Developers

1. Install :code:setuptools and :code:virtualenv:

   .. code-block:: bash

    pip3 install --user setuptools virtualenv
   

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

   .. code-block:: bash

    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

   .. code-block:: bash

    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 :code:`libhsl.so`. In this case, manually create a symlink :code:`libcoinhsl.so` ->
  :code:`libhsl.so` in :code:`/usr/lib`
* Failed to load :code:`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:

    .. code-block:: bash

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


.. _casadi: https://web.casadi.org/
.. _sphinx: docs/build/html/index.html
.. _HSL_MA57: http://www.hsl.rl.ac.uk/catalogue/ma57.html
.. _obtaining_HSL: https://github.com/casadi/casadi/wiki/Obtaining-HSL>