1. Get and install casiopeia

The following instructions have been tested on Ubuntu 18.04. If you are planning to install casiopeia on Linux systems different from Ubuntu 18.04, these commands need to be adapted accordingly.

1.1. Installation on Ubuntu 18.04

casiopeia is available only for Python 2.7. Also, the version of CasADi required by casiopeia requires the installation of libgfortran3. You might need root priviliges to run the following commands:

apt install libgfortran3

Note

Some functionalitites of CasADi might required other additional open-source libraries to be installed. For a list of possibly required libraries and installation instructions, see the corresponding section in the CasADi installation guide. If something goes wrong with executing CasADi and/or casiopeia, missing one or more of these libraries might be the reason.

Depending on your setup, you might need root privileges to install the following packages via pip:

pip install numpy==1.8 casadi==3.1.0

casiopeia can then also be obtained via pip by running the command

pip install casiopeia

or by cloning the corresponding repository and installing casiopeia by

git clone https://github.com/adbuerger/casiopeia.git
cd casiopeia
python setup.py install

To run the examples shipped with casiopeia, pylab is required, which can be made available by installing the following packages in addition to numpy:

pip install scipy==0.13 matplotlib==2.2.4

1.2. Recommendations

To speed up computations in casiopeia, it is recommended to install HSL for IPOPT. On how to install the solvers and for further information, see the page Obtaining HSL in the CasADi wiki.