Installation under Windows

 
In order to install ACADO Toolkit under WINDOWS, we recommend to install the Linux environment Cygwin:

  1. Go to www.cygwin.com, download and execute the setup program (setup.exe). This may require administrator priveleges.

     

  2. Follow the instructions of the installation program. Make sure that you chose an installation path without any spaces (e.g. c:/cygwin).

     

  3. In "select packages" step, select at least the following packages for installation:
    • From the Devel category, select "gcc-g++" and "make". If you plan to use SVN, you might want to select "subversion" as well.
    • From the Graphics category, select "gnuplot"
    • You will need an X-server to display the gnuplot graphics. For this, select "xinit" from the X11 cathgory, or manually configure your existing X-server to work with Cygwin after installation.
    • Click next and wait for the automatic installation

     

  4. Start cygwin (a linux terminal will open). To use plotting, you need to open a terminal with the X-server. You can do this directly by running 
    C:\cygwin\bin\run.exe /usr/bin/bash.exe -l -c /usr/bin/startxwin.exe
    in "run".

     

    Create a directory where you want to install ACADOtoolkit. Make sure that there are no spaces in the path, e.g.
       
    cd c:
mkdir ACADO
cd ACADO
  5. Copy ACADOtoolkit-1.0.2613beta.tar.gz to the installation directory (here c:/ACADO) and unpack it:
       
    tar xfvz ACADOtoolkit-1.0.2613beta.tar.gz
  6. Open the file ACADOtoolkit-1.0.2613beta/include/acado/include.mk in the ACADO directory with your favorite source-code editor (you can always use Wordpad) and make sure that the system is set to WIN32 and that the GNU compiler is used:
       
    # Compiler: (GNU or VC)
COMPILER = GNU

# System: (WIN32 or LINUX)
SYSTEM = WIN32
  7. Finally, make ACADOtoolkit and run an example:
       
    cd ACADOtoolkit-1.0.2613beta 
make

cd examples/getting_started
./simple_ocp

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