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Example showing how to generate, compile and run code in an embedded environment
The example consists of three parts:
PART1: Generate the NLP functions
This generates a simple NLP, including first and second order derivative information. This function can be written in Python via CasADi's Python interface
PART2:
Compile the generated NLP functions. A cmake-file was generated during PART1
PART3:
Solve the NLP
USAGE INSTRUCTIONS
1. Compile and install CasADi on the target system. For this example, only a CasADi installation with IPOPT is needed. You can specify the installation location by setting CMAKE_INSTALL_PREFIX
> cd <casadi-source>
> mkdir build
> cd build
> cmake .. -DCMAKE_INSTALL_PREFIX:PATH=<installation path>
2. Compile the code for part1 and part3, you may need to instruct the code where to find IPOPT and CasADi.
> mkdir build
> cd build
> export PKG_CONFIG_PATH=<directory where ipopt.pc is located>
> export CASADI_PREFIX=<directory where casadi was installed (see above). Not needed if CasADi is in the standard paths
> cmake ..
> make
3. Run part1 to generate the NLP functions and the Makefile
> cd bin
> ./embedding_part1
4. Compile the generated code using the generated CMakeLists.txt
> cmake .
> make
5. Run part3 to solve the NLP
> ./embedding_part3
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