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--- icub:icub_install_ipopt [2012/11/12 14:03] – ramirezk
+++ icub:icub_install_ipopt [2013/01/08 13:16] (current) – ramirezk
@@ Line 1: / Line 1: @@
+====== 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.