A toolbox for trajectory optimization of dynamical systems
This toolbox uses pybind11 to compile C++ code and use it in python. The following setup has been test only while using Conda envs.
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Install Pybind11:
conda install pybind11
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Compile OpenBLAS:
- Prequisits: libpthread, libgfortran, gcc-fortran
- https://github.com/xianyi/OpenBLAS.git
- Change USE_THREAD to (de-)activate multi-threading
USE_THREAD=0 C=gcc FC=gfortran NO_AFFINITY=1 NO_SHARED=1 COMMON_OPT=" -O2 -march=native " make- Edit local CMakeLists.txt to reflect the path of OpenBLAS
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Configure Armadillo:
- http://arma.sourceforge.net/download.html
- Only configure, do not make
./configure
- Edit local CMakeLists.txt to reflect the path of Armadillo
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Install Python Package:
pip install -e .