# Installation

## Linux/MacOS

### Prerequisites

- git
- Python 3.11 or higher
- [acados dependencies](https://docs.acados.org/installation/index.html)
- [CasADi](https://web.casadi.org/get/)

Clone the repository and recursively update submodules:
```bash
git clone git@github.com:leap-c/leap-c.git leap_c
cd leap_c
git submodule update --init --recursive
```

### Python

We work with Python 3.11. If it is not already installed on your system, you can obtain it using [deadsnakes](https://launchpad.net/~deadsnakes/+archive/ubuntu/ppa):
```bash
sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt install python3.11
```

A virtual environment is recommended. For example, to create a virtual environment called `.venv`
and activate it, run:

```bash
pip3 install virtualenv
virtualenv --python=/usr/bin/python3.11 .venv
source .venv/bin/activate
```

The following steps assume that the virtual environment is activated.

#### CasADi

Install CasADi by running:
```bash
pip install casadi
```

#### acados

Then change into the acados directory 

```bash
cd external/acados
```

and build it as described in the [acados documentation](https://docs.acados.org/installation/index.html). When running the
`cmake` command, make sure to include the options `-DACADOS_WITH_OPENMP=ON`, `-DACADOS_PYTHON=ON` and `-DACADOS_NUM_THREADS=1`.

#### PyTorch

Install PyTorch as described on the [PyTorch website](https://pytorch.org/get-started/locally/).

To install CPU-only PyTorch you can use:

``` bash
pip install torch --extra-index-url https://download.pytorch.org/whl/cpu
```

### Install leap-c

To install the package in the root directory of the repository, run:

```bash
pip install -e .
```

For development, you might want to install additional dependencies:

```bash
pip install -e .[dev]
```

See the [pyproject.toml](https://github.com/leap-c/leap-c/blob/main/pyproject.toml) for more information on the installed packages.

## Testing

To run the tests, use:

```bash
pytest tests -vv -s
```