Installation

Linux/MacOS

Prerequisites

Clone the repository and recursively update submodules:

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:

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:

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:

pip install casadi

acados

Then change into the acados directory

cd external/acados

and build it as described in the acados documentation. 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.

To install CPU-only PyTorch you can use:

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:

pip install -e .

For development, you might want to install additional dependencies:

pip install -e .[dev]

See the pyproject.toml for more information on the installed packages.

Testing

To run the tests, use:

pytest tests -vv -s

Linting and Formatting

Only relevant if you want to contribute to the repository. For keeping our code style and our diffs consistent we use the Ruff linter and formatter (so far we use the standard settings).

To make this as easy as possible we also provide a pre-commit config for running the linter and formatter automatically at every commit. For enabling pre-commit follow these steps:

  1. Install pre-commit using pip (already done if you installed the additional “[dev]” dependencies of leap-c).

pip install pre-commit

  1. In the leap-c root directory run

pre-commit install

Done! Now every commit will automatically be linted and formatted.