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QP Solver Installation

Content:

Dependencies

  • Eigen3
  • CMake

OSQP

  • Python
conda install -c conda-forge osqp
  • C++
git clone --recursive https://github.com/osqp/osqp

cd osqp
mkdir build &&
cd build

cmake -G "Unix Makefiles" .. # Linux
cmake --build . --target install # build to /usr/local/include and /usr/local/lib

OSQP Eigen

git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen/
mkdir build && cd build
cmake ..
make -j 4
sudo make install # default to /usr/local/include  and /usr/local/lib

qpOASES

  1. Obtain the latest stable release of qpOASES from project page, and save the zipped archive qpOASES-3.2.1.tgz.

  2. Unpack the archive

    gunzip qpOASES-3.2.1.tgz
tar xf qpOASES-3.2.1.tar

  3. Compilation of the qpOASES library libqpOASES.a and test examples

    cd <install-dir>
make

  4. Running a simple test example

    cd <install-dir>/bin
./example1

    If it terminates after successfully solving two QP problems, qpOASES has been successfully installed!

CVXOPT

  • Python

    • Installing via conda

      conda install -c conda-forge cvxopt

    • Installing via pip

      pip install cvxopt

MOSEK

License Activation

To activate an ordered product:

  1. Determine the hostname and hostid of your designated machine(s) according to the instructions in the licensing guide.
  2. E-mail those details to license@mosek.com.
  3. You will receive license file(s) which can be installed according to the instructions for floating license or server license.

After activated the MOSEK license, a mosek.lic file will be sent to your email. The license file should be placed inside a folder called "mosek" under the user's home directory. For example:

  • Windows: c:\users\_userid_\mosek\mosek.lic

  • Linux/Mac OS: /home/_userid_/mosek/mosek.lic

    Where _userid_ is your User ID on the computer.

Software Installation

Download default installers in the download page according to your systems.

  • Python

    • Installing via conda

      conda install -c mosek mosek

    • Installing via pip

      pip install Mosek