Dependencies

Strictly necessary dependencies:

• Eigen Library: http://eigen.tuxfamily.org/index.php?title=Main_Page This is absolutely necessary for building the core library.

Dependencies to use all provided functionalities (e.g., run MPC controller online, deploy using a motion capture system,…):

• Acados: https://github.com/acados/acados Framework for our MPC implementations.

• HPIPM: https://github.com/giaf/hpipm High Performance Interior Point Method solver.

• ROS VRPN Client: http://wiki.ros.org/vrpn_client_ros This client can be used to fly within motion capture systems. Install with sudo apt install ros-${ROS_DISTRO}-vrpn-client-ros

Optional dependencies (they allow to run unit tests in your code):

• Google Test: https://github.com/google/googletest For unit tests and continuous integration.

• Google Benchmark: https://github.com/google/benchmark For optional micro-benchmarking.