安裝casadi

實驗需要用c++版本的casadi庫，網(wǎng)上好像沒有安裝教程，記錄一下我的安裝過程。

首先安裝ipopt依賴

sudo apt-get install coinor-libipopt-dev

下載casadi

git clone https://github.com/casadi/casadi

編譯

mkdir build
cd build
cmake -DWITH_IPOPT=true …
make

寫代碼的時候find_package()不知道為什么找不到包，我直接鏈接到了絕對路徑，附上cmakelist文件

cmake_minimum_required( VERSION 2.8)
project(test_x)
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS “-std=c++11”)
find_package(casadi REQUIRED)
message(“casadi dir ${casadi_INCLUDE_DIRS}”)
message(“casadi lib ${casadi_LIBS}”)
include_directories(/usr/local/include/casadi)
add_executable(test_x test_x.cpp)
target_link_libraries(test_x /usr/local/lib/libcasadi_conic_nlpsol.so.3.6
/usr/local/lib/libcasadi_conic_qrqp.so
/usr/local/lib/libcasadi_conic_qrqp.so.3.6
/usr/local/lib/libcasadi_importer_shell.so
/usr/local/lib/libcasadi_importer_shell.so.3.6
/usr/local/lib/libcasadi_integrator_collocation.so
/usr/local/lib/libcasadi_integrator_collocation.so.3.6
/usr/local/lib/libcasadi_integrator_cvodes.so
/usr/local/lib/libcasadi_integrator_cvodes.so.3.6
/usr/local/lib/libcasadi_integrator_idas.so
/usr/local/lib/libcasadi_integrator_idas.so.3.6
/usr/local/lib/libcasadi_integrator_rk.so
/usr/local/lib/libcasadi_integrator_rk.so.3.6
/usr/local/lib/libcasadi_interpolant_bspline.so
/usr/local/lib/libcasadi_interpolant_bspline.so.3.6
/usr/local/lib/libcasadi_interpolant_linear.so
/usr/local/lib/libcasadi_interpolant_linear.so.3.6
/usr/local/lib/libcasadi_linsol_csparsecholesky.so
/usr/local/lib/libcasadi_linsol_csparsecholesky.so.3.6
/usr/local/lib/libcasadi_linsol_csparse.so
/usr/local/lib/libcasadi_linsol_csparse.so.3.6
/usr/local/lib/libcasadi_linsol_ldl.so
/usr/local/lib/libcasadi_linsol_ldl.so.3.6
/usr/local/lib/libcasadi_linsol_lsqr.so
/usr/local/lib/libcasadi_linsol_lsqr.so.3.6
/usr/local/lib/libcasadi_linsol_qr.so
/usr/local/lib/libcasadi_linsol_qr.so.3.6
/usr/local/lib/libcasadi_linsol_symbolicqr.so
/usr/local/lib/libcasadi_linsol_symbolicqr.so.3.6
/usr/local/lib/libcasadi_linsol_tridiag.so
/usr/local/lib/libcasadi_linsol_tridiag.so.3.6
/usr/local/lib/libcasadi_nlpsol_qrsqp.so
/usr/local/lib/libcasadi_nlpsol_qrsqp.so.3.6
/usr/local/lib/libcasadi_nlpsol_scpgen.so
/usr/local/lib/libcasadi_nlpsol_scpgen.so.3.6
/usr/local/lib/libcasadi_nlpsol_sqpmethod.so
/usr/local/lib/libcasadi_nlpsol_sqpmethod.so.3.6
/usr/local/lib/libcasadi_rootfinder_fast_newton.so
/usr/local/lib/libcasadi_rootfinder_fast_newton.so.3.6
/usr/local/lib/libcasadi_rootfinder_kinsol.so
/usr/local/lib/libcasadi_rootfinder_kinsol.so.3.6
/usr/local/lib/libcasadi_rootfinder_newton.so
/usr/local/lib/libcasadi_rootfinder_newton.so.3.6
/usr/local/lib/libcasadi_rootfinder_nlpsol.so
/usr/local/lib/libcasadi_rootfinder_nlpsol.so.3.6
/usr/local/lib/libcasadi.so
/usr/local/lib/libcasadi.so.3.6
/usr/local/lib/libcasadi_sundials_common.so
/usr/local/lib/libcasadi_sundials_common.so.3.6
/usr/local/lib/libcasadi_xmlfile_tinyxml.so
/usr/local/lib/libcasadi_xmlfile_tinyxml.so.3.6
)

搞定！

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