qpOASES is self-contained! Except for a couple of standard C libraries, no further external software packages are required. Optionally, the LAPACK and BLAS libraries can be linked for performing internal linear algebra operations.
qpOASES has been successfully installed on PCs running Linux, Windows or Mac OS X, and can also run on embedded computing hardware. This page provides a concise instructions on how to install qpOASES. We refer to the Chapter 2 and 6 of the User's Manual for all details.
Standard Installation under Linux
- Obtain the latest stable release of qpOASES as described on the Download page.
- If you obtained a zipped archive, unpack the archive:
tar xf qpOASES-3.2.1.tar
A new directory qpOASES-3.2.1 will be created. From now on we refer to (the full path of) this directory or the one you used to check out the latest stable branch by <install-dir>. It contains seven subfolders, namely
bin (to contain compiled executables and libraries),
doc (manual and a doxygen configuration file),
examples (source code of example files for setting up your own QP problems),
include (qpOASES header files),
interfaces (interfaces to third-party software),
src (qpOASES source files),
testing (basic unit testing),
- qpOASES is distributed under the terms of the GNU Lesser General Public License v2.1, which you can find in the file <install-dir>/LICENSE.txt or here.
Please read this licence file carefully before you proceed with the installation, as you implicitly agree with this licence by using qpOASES!
- If you want to use qpOASES via the provided third-party interfaces only, you can skip the following steps and proceed as described in Chapter 6 of the User's Manual.
Otherwise continue with the compilation of the qpOASES library libqpOASES.a (or libqpOASES.so) and test examples:
This library libqpOASES.a provides the complete functionality of the qpOASES software package. It can be used by, e.g., linking it against a main function from the examples folder. The make also compiles a couple of test examples; executables are stored within the directory <install-dir>/bin.
- Running a simple test example:
Among others, an executable called example1 should have been created; run it in order to test your installation:
If it terminates after successfully solving two QP problems, qpOASES has been successfully installed!
- Optional, create source code documentation:
Afterwards, you can open the file <install-dir>/doc/html/index.html with your favorite browser in order to view qpOASES's source code documentation.
Installation on Windows or Mac OS X
It is also possible to natively install qpOASES on a Windows or Mac OS X machine as it does not require any Linux-specific commands. Installation on different operating systems is facilitated by the following means:
- Customised Makefiles:
When calling make, the file <install-dir>/make.mk is used to select compiler settings that are tailored to different operating systems. The following settings are provided:
make_linux.mk, the default choice, for compiling under Linux,
make_cygwin.mk for compiling under Windows using Cygwin,
make_windows.mk for compiling under Windows using Microsoft Visual Studio,
make_osx.mk for compiling under Mac OS X.
Uncomment your preferred choice and run make.
- Compiling with CMake:
Static vs. Dynamic Library
qpOASES can be compiled into either a static or a dynamic library to be linked against the executable at runtime. Both variants are configured in the respective Makefiles.