Installation

Linux/MacOS

Prerequisites

git
Python 3.11 or higher
acados dependencies
CasADi

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