ThirdParty

External code to help stuff run:

• eigen: a C++ template library for linear algebra
• Ipopt: Interior Point OPTimizer is for large-scale nonlinear optimization
• mjpro150: MuJoCo is Modeling, Simulation, and Visualization of Multi-Joint Dynamics with Contact
• qpOASES: online active set strategy for quadratic programming
• rbdl: Rigid Body Dynamics Library

Installation

cd /path/to/ThirdParty/

1. Set workspacePath

Add export workspacePath=/path/to/ThirdParty/parentDir to the end of bashrc file:

• UNIX file: .bashrc
• Mac file: ~/.bash_profile

Then run:

• UNIX

  source ~/.bashrc
  

• Mac

  source ~/.bash_profile
  

2. Add eigen symlink

sudo ln -s /path/to/ThirdParty/eigen /usr/local/include/eigen

3. Build rbdl

cd rbdl
rm -rf build
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release ../ 
make

4. Build qpOASES

• UNIX

  cd qpOASES
  make clean; make
  

• Mac
  1. Download and install Xcode
  2. Uncomment OSX makefile in /ThirdParty/qpOASES-3.2.1/make.mk to:

  #include ${TOP}/make_linux.mk
  #include ${TOP}/make_cygwin.mk
  #include ${TOP}/make_windows.mk
  include ${TOP}/make_osx.mk

  3. Add your Matlab path to /ThirdParty/qpOASES-3.2.1/make_osx.mk, e.g.:

  # Matlab include directory (ADAPT TO YOUR LOCAL SETTINGS!)
  MATLAB_IDIR   = /Applications/MATLAB_R2017b.app/extern/include

  4. Make

  cd qpOASES
  make clean; make
  

You're done!