Installing IPOPT
From Wiki for RobotCub and Friends
IpOpt is an open-source tool from COIN-OR for nonlinear constrained optimization. It is required to install it in order to enable IpOpt-based feauters of iKin library.
IpOpt can be compiled by getting the sources directly from the web, or it can be installed from binaries. Binary releases are available for Windows and Linux, see below.
Remember to set the environmental variable IPOPT_DIR pointing to the local directory where you have installed the libraries.
Compiling IpOpt
You can compile the library yourself. Visit the IpOpt web site, download the source code archive and follow the documentation to compile it carefully. Among all the possible sparse symmetric linear solvers IpOptcan rely on, we suggest to use the HSL Subroutines: you will be asked to register to HSL Programs in order to get the source code for MA27 and MC19 routines (or even MA57+METIS, i.e. the succesor of MA27). These routines are mandatory, i.e. without them you will be able to compile IpOpt(since it employs a runtime Linear Solver Loader) but it will not work. Moreover, if you are a linux user, make sure that the package gfortran is installed, since it is required for compiling HSL Subroutines.
Binary distributions
- Windows. Users of MSVC8/9 can download a precompiled version of IpOpt, this version is compatible with YARP (compiled with Multi-threaded DLL switch enabled and packed using lib command):
- Linux. Pick the version that matches your system, some are available from the IpOpt official web site, some are provided by us, see here:
