Installation

Virtual environment

If you have a supported Python installation on your computer, you can install the package in a virtual environment like so:

# create a virtual environment (called venv)
python3 -m venv venv

# activate virtual environment
. ./venv/bin/activate

# install packages listed in `requirements.txt`, e.g. sphinx
pip install -r requirements.txt

# to build the documentation locally, run:
cd docs
make doctest # optionally check if your examples work
make html

Library installation

In this code, the CasADi library is required to take the automatic differentiation. Firstly, download a proper version of the CasADi library from https://web.casadi.org/get/. Then, save it in the source code folder “src”. The path of the library is added in the code main.m as following:

# add CasADi library path
addpath('casadi-osx-matlabR2015a-v3.4.5');

‘casadi-osx-matlabR2015a-v3.4.5’ is a version for Mac OS, you can chose others according to your system.