The optimizer (NLP, QP) for foothold positions and body trajectory for a quadruped robot.

• Eigen

    $ sudo apt-get install libeigen3-dev
  

• Ipopt/Snopt. For this it's best to see the appropriate repos:

     $ git clone https://bitbucket.org/adrlab/ipopt.git
  

• xpp_common

     $ git clone [email protected]:adrlab/xpp_common.git
  

• (Optional) Google unit test framework

    $ sudo apt-get install libgtest-dev       # download headers and sources                  
    $ cd /usr/src/gtest             
    $ sudo cmake CMakeLists.txt
    $ sudo make                               # build library        
    $ sudo cp *.a /usr/lib                    # copy libgtest.a and libgtest_main.a to your /usr/lib folder
  

You must set the environmental variable 'IPOPT_DIR' to point to the Ipopt Installation.

$ export IPOPT_DIR=~/3rd_party_software/ipopt

Alexander W. Winkler ([email protected])