eigen-quadprog

eigen-quadprog allow to use the QuadProg QP solver with the Eigen3 library.

Installing

Ubuntu LTS (16.04, 18.04, 20.04)

# Make sure you have required tools
sudo apt install apt-transport-https lsb-release
# Add our key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key 892EA6EE273707C6495A6FB6220D644C64666806
# Add our repository (stable versions)
sudo sh -c 'echo "deb https://dl.bintray.com/gergondet/multi-contact-release $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/multi-contact.list'
# Use this to setup the HEAD version
# sudo sh -c 'echo "deb https://dl.bintray.com/gergondet/multi-contact-head $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/multi-contact.list'
# Update packages list
sudo apt update
# Install packages
sudo apt install libeigen-quadprog-dev

Manual

Dependencies

To compile you need the following tools:

• Git
• CMake >= 2.8
• pkg-config
• doxygen
• g++
• gfortran (-DUSE_F2C=OFF)
• gcc (-DUSE_F2C=ON)
• Boost >= 1.49
• Eigen >= 3.2

Building

git clone --recursive https://github.com/jrl-umi3218/eigen-quadprog
cd eigen-quadprog
mkdir _build
cd _build
cmake [options] ..
make && make intall

CMake options

• BUILD_TESTING Enable unit tests building (ON/OFF, default: ON)
• USE_F2C Build with fortran source code translated in C (slower runtime) (ON/OFF, default: OFF).