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acados_template is a Python package that can be used to specify optimal control problems from Python and to generate self-contained C code that uses the acados solvers to solve them. The pip package is based on templated code (C files, Header files and Makefiles), which are rendered from Python using the templating engine Tera. The genereated C code can be compiled into a self-contained C library that can be deployed on an embedded system.

Usage

Optimal Control Problem description

The Python interface relies on the same problem formulation as the MATLAB interface see here.

Installation

Linux/macOS

  1. Compile and install acados by running:
cd <acados_root>/build
cmake -DACADOS_WITH_QPOASES=ON ..
make install -j4
  1. Install acados_template Python package by running
pip3 install <acados_root>/interfaces/acados_template

Note: If you are working with a virtual Python environment, use the pip corresponding to this Python environment instead of pip3.

  1. Add the path to the compiled shared libraries libacados.so, libblasfeo.so, libhpipm.so to LD_LIBRARY_PATH (default path is <acados_root/lib>) by running:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"<acados_root>/lib"

Tipp: you can add this line to your .bashrc/.zshrc.

  1. Run a Python example to check that everything works. We suggest to get started with the example <acados_root>/examples/acados_python/getting_started/minimal_example_ocp.py.

  2. Optional: Can be done automatically through the interface: In order to be able to successfully render C code templates, you need to download the t_renderer binaries for your platform from https://github.com/acados/tera_renderer/releases/ and place them in <acados_root>/bin (please strip the version and platform from the binaries (e.g.t_renderer-v0.0.34 -> t_renderer). Notice that you might need to make t_renderer executable. Run export ACADOS_SOURCE_DIR=<acados_root> such that the location of acados will be known to the Python package at run time.

  3. Optional: Set acados_lib_path, acados_include_path. If you want the generated Makefile to refer to a specific path (e.g. when cross-compiling or compiling from a location different from the one where you generate the C code), you will have to set these paths accordingly in the generating Python code.

Windows

You can in principle install the acados_template package within your native Python shell, but we highly recommend using Windows Subsystems for Linux (https://docs.microsoft.com/en-us/windows/wsl/about) and to follow the Linux/macOS installation instruction.

For more information visit https://docs.acados.org/interfaces/