Hpipm安装
见
https://github.com/mayataka/hpipm-cpp
安装库
eigen3
| sudo apt install libeigen3-dev
|
| 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
| export LD_LIBRARY_PATH=/opt/blasfeo/lib:/opt/hpipm/lib:$LD_LIBRARY_PATH
|
安装hpipm-cpp
| 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)