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Hpipm安装

见 https://github.com/mayataka/hpipm-cpp

安装库

eigen3

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sudo apt install libeigen3-dev

blasfeo and hpipm

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git clone https://github.com/giaf/blasfeo
git clone https://github.com/giaf/hpipm
cd blasfeo && mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBLASFEO_EXAMPLES=OFF 
make -j8
sudo make install -j
cd ../../hpipm && mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF 
make -j8
sudo make install -j

设置动态库路径

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export LD_LIBRARY_PATH=/opt/blasfeo/lib:/opt/hpipm/lib:$LD_LIBRARY_PATH

安装hpipm-cpp

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git clone https://github.com/mayataka/hpipm-cpp
cd hpipm-cpp
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release 
make -j8
sudo make install -j

使用

见hpipm-cpp/example(mpc、ocpqp)