The c++ libraries for QP.
official documents: https://eigen.tuxfamily.org/dox-3.3/group__TutorialMatrixArithmetic.html
sudo apt-get install libeigen3-dev
The default path is: /usr/include/eigen3. You should use
#include <eigen3/Eigen/Dense>
or you can
sudo cp -r /usr/include/eigen3/Eigen /usr/include/
then use
#include <Eigen/Dense>
official repository: https://github.com/osqp/osqp
git clone --recursive https://github.com/oxfordcontrol/osqp
cd osqp
mkdir build
cd build
cmake ..
make -j16
sudo make install
official repository: https://github.com/robotology/osqp-eigen
git clone https://github.com/robotology/osqp-eigen
cd osqp-eigen
mkdir build
cd build
cmake ..
make -j16
sudo make install
Then modify the head files in /usr/local/include/OsqpEigen, make sure the osqp.h can be found. Modifing the file Constraints.hpp, Data.hpp, Settings.hpp, Solver.hpp, Solver.tpp, SparseMatrixHelper.hpp.
#include </usr/local/include/osqp/osqp.h>
#include </usr/local/include/osqp/auxil.h>
#include </usr/local/include/osqp/scaling.h>
official repository: https://github.com/coin-or/qpOASES
git clone https://github.com/coin-or/qpOASES
cd qpOASES
mkdir build
cd build
cmake ..
make -j16
sudo make install