====== Installing IPOPT from binaries for Linux ======

This optimization tool has to be installed in order to be able to use the Inverse Kinematic library 
for the iCub.

Make sure that the following package is installed:
  sudo apt-get install gfortran

You can visit the IPOPT web page:[[https://projects.coin-or.org/Ipopt]], download the source code archive (iCub support releases from 3.5.4 onward) or get the latest version from the repository:
  mkdir -p ~/local/src
  cd ~/local/src
  # Latest stable version during creation of this manual was 3.10, update if necessary
  svn co https://projects.coin-or.org/svn/Ipopt/stable/3.10 CoinIpopt

Now enter the IPOPT directory and get the third party sources:
  cd CoinIpopt/ThirdParty/Blas
  ./get.Blas
  cd ../Lapack
  ./get.Lapack

Now you need to download the HSL routines.
Go to http://hsl.rl.ac.uk/archive/hslarchive.html.

Find MA27. Fill in the register form and wait for the email with the download link. 
Save the archive, extract it and then copy file ma27d.f as ma27ad.f 
into ~/local/src/CoinIpopt/ThirdParty/HSL/.

  mkdir -p ~/local/src/downloads
  tar -C ~/local/src/downloads/ -xvf ~/Downloads/ma27-1.0.0.tar.gz 
  cp ~/local/src/downloads/ma27-1.0.0/src/ma27d.f ~/local/src/CoinIpopt/ThirdParty/HSL/ma27ad.f

Find MC19. Fill in the register form and wait for the email with the download link. 
Save the archive, extract it and then copy file mc19d.f as mc19ad.f 
into ~/local/src/CoinIpopt/ThirdParty/HSL/.

  tar -C ~/local/src/downloads/ -xvf ~/Downloads/mc19-1.0.0.tar.gz
  cp ~/local/src/downloads/mc19-1.0.0/src/mc19d.f ~/local/src/CoinIpopt/ThirdParty/HSL/mc19ad.f

Now go to the root of the IPOPT folder 
  cd ~/local/src/CoinIpopt
and run:
  mkdir build && cd build
  ../configure --with-blas=BUILD --with-lapack=BUILD --with-hsl=BUILD --prefix=/usr/local
  make
  make test
  sudo make install

Set the environment variable IPOPT_DIR pointing to the local directory where you have installed the libraries (you need to change the directory if you performed a local installation).

  cd
  gedit .bashrc
  export IPOPT_DIR=/usr/local
  
**Hint:** to check whether IPOPT is working along with iKin framework, compile and execute the examples located under the iKin tutorials directory found in the iCub repository: 
if the IPOPT banner is displayed when the examples are launched then IPOPT is correctly configured.