This is a guide detailing the compilation of Ipopt with SPRAL as a linear solver. It was developed assuming a standard installation of Ubuntu 18.04 LTS. To begin, first, compile the LANL ANSI version of SPRAL using the compilation suggestions described therein.
First, create a directory where Ipopt will be compiled from source (not via coinbrew), e.g.,
mkdir -p ${HOME}/SoftwareThe remainder of this guide assumes such a directory has been created.
| sudo apt install -qqy lsb-release gnupg2 curl | |
| echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list | |
| curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add - | |
| sudo apt update -y | |
| sudo apt install -qqy robotpkg-py27-pinocchio | |
| export PATH=/opt/openrobots/bin:$PATH | |
| export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH | |
| export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH | |
| export PYTHONPATH=/opt/openrobots/lib/python2.7/site-packages:$PYTHONPATH | |
| export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH |
| #!/bin/bash | |
| BRIDGE_NAME=dbridge | |
| PHYS_IF=eth0 | |
| SUBNET=192.168.1.0 | |
| NETMASK=255.255.255.0 | |
| GATEWAY=192.168.1.1 | |
| sudo brctl addbr $BRIDGE_NAME | |
| sudo brctl addif $BRIDGE_NAME $PHYS_IF | |
| sudo ifconfig $BRIDGE_NAME up |
| # This Dockerfile starts from a base ubuntu 12.04 image and installs | |
| # a full desktop ROS hydro. | |
| # | |
| # It also creates a catkin workspace for a single user named YOURNAME | |
| # with password YOURPASSWORD. | |
| # | |
| # GUI applications in the container will connect to the host's X11 server | |
| # by mounting the .X11-unix folder on the host OS. I have no idea if this | |
| # works on Mac if Windows. | |
| # (http://fabiorehm.com/blog/2014/09/11/running-gui-apps-with-docker/) |
| # vim style tmux config | |
| # use C-a, since it's on the home row and easier to hit than C-b | |
| set-option -g prefix C-a | |
| unbind-key C-a | |
| bind-key C-a send-prefix | |
| set -g base-index 1 | |
| # Easy config reload | |
| bind-key R source-file ~/.tmux.conf \; display-message "tmux.conf reloaded." |
| # the following two lines give a two-line status, with the current window highlighted | |
| hardstatus alwayslastline | |
| hardstatus string '%{= kG}[%{G}%H%? %1`%?%{g}][%= %{= kw}%-w%{+b yk} %n*%t%?(%u)%? %{-}%+w %=%{g}][%{B}%m/%d %{W}%C%A%{g}]' | |
| # huge scrollback buffer | |
| defscrollback 5000 | |
| # no welcome message | |
| startup_message off |
