ct_doc/doc/installation.dox

/*!

\page install_guide Installation
- \subpage requirements
- \subpage install


\page requirements Requirements
@tableofcontents
This library is written in C++11. It is tested under Ubuntu 14.04 and 16.04 with
library versions as provided in the package sources.


\section dep Dependencies

 - C++ compiler with C++11 support (we recommend gcc-5.4.1 or greater or clang-3.5 or greater)
 - <a href="http://eigen.tuxfamily.org/index.php?title=Main_Page">Eigen 3</a>
 - <a href="http://wiki.ros.org/catkin">catkin</a> (build system, easy to switch to CMakeLists.txt where needed). We recommend using <a href="http://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html">catkin_tools</a>
 - boost 1.54 or greater (soon optional)
 - <a href="https://github.com/ethz-asl/kindr">kindr</a>, a kinematics library for robotics, 
 which is required for building ct_rbd. Ideally, clone the newest version into your 
 catkin workspace:
 \code{.sh}
 $ git clone https://github.com/ethz-asl/kindr.git
 \endcode
 
 
\section opt_dep Optional Dependencies and Bindings
The following dependencies and bindings are optional but can help to enhance the functionality or performance of the CT

 - <a href="http://www.netlib.org/lapack/">lapack</a> (enables Schur method as an alternative to iterative method in ct::optcon::LQR)

 - <a href="https://clang.llvm.org/">clang</a> compiler (faster compilation for large linear models), install from command-line via
 \code{.sh} $ sudo apt-get install clang-3.5 \endcode

 - <a href="http://wiki.ros.org/indigo">ROS Indigo</a> or <a href="http://wiki.ros.org/kinetic">Kinetic</a> (for ROS bindings, visualization and extended examples), see <a href="../../../../ct_ros/ct_ros_nodes/doc/html/index.html">ct_ros_nodes</a>, <a href="../../../../ct_ros/ct_ros_nodes/doc/html/index.html">ct_ros_msgs</a>

 - <a href="https://projects.coin-or.org/Ipopt">IPOPT</a> or <a href="http://www.sbsi-sol-optimize.com/asp/sol_product_snopt.htm">SNOPT</a>
  (for ct::optcon::SnoptSolver and ct::optcon::IpoptSolver as used by ct::optcon::DMS)

 - <a href="https://github.com/giaf/blasfeo/releases/tag/ct-v2">blasfeo</a> linear algebra and <a href="https://github.com/giaf/hpipm/releases/tag/ct-v2">HPIPM solver</a> as 
 alternative high-performance (constrained) linear-quadratic optimal control solver. Check out the *ct-v2* tags. Detailed reference 
 about blasefeo can be found <a href="https://arxiv.org/abs/1704.02457">here</a>. 
 Both packages were developed by <a href="https://www.syscop.de/people/dr-gianluca-frison">Gianluca Frison</a>, <a href="https://www.syscop.de/">University of Freiburg</a>.

 - <a href="http://qwt.sourceforge.net/">Qwt</a> (for basic plotting)

 - MATLAB (for Matlab logging)

 - <a href="http://clang.llvm.org/extra/clang-tidy/">clang-tidy</a>, install via 
 \code{.sh}
 $ sudo apt-get install clang-tidy-3.9
 \endcode

 - <a href="https://clang.llvm.org/docs/ClangFormat.html">clang-format</a>, install via 
  \code{.sh}
 $ sudo apt-get install clang-format-3.9
 \endcode


\page install Compile
@tableofcontents

\section build_lib Build the library

In order to build the library, execute the following commands in your terminal
\code{.sh}
cd catkin_ws/src
git clone https://github.com/ethz-asl/kindr.git
git clone https://bitbucket.org/adrlab/ct.git
catkin build -DCMAKE_BUILD_TYPE=RELEASE 
\endcode

The following additional build flags are available, which can be appended to the build command above

Build Flag  | Default value | Description
------------- | ------------- | ------------
-DBUILD_EXAMPLES=\<BOOL> | FALSE  | Builds examples for all packages
-DBUILD_HYQ_FULL=\<FALSE> | FALSE | Build HyQ examples and executables (warning: slow with GCC!)
-DUSE_CLANG=\<BOOL> | FALSE  | Use CLANG instead of the default compiler 
-DCLANG_CXX_COMPILER=\<clang-bin> | "/usr/bin/clang++-3.5" | Set clang C++ compiler binary
-DCLANG_C_COMPILER=\<clang-bin> | "/usr/bin/clang-3.5" | Set clang C compiler binary
-DUSE_INTEL=\<BOOL> | FALSE  | Use Intel compiler instead of the default compiler 
-DINTEL_CXX_COMPILER=\<clang-bin> | "/opt/intel/bin/icc" | Set Intel C++ compiler binary
-DINTEL_C_COMPILER=\<clang-bin> | "/opt/intel/bin/icpc" | Set Intel C compiler binary
-DHPIPM=\<BOOL> | FALSE | Compile with HPIPM support (set $BLASFEO_DIR and $HPIPM_DIR environment variables)



\section build_doc Build this Documentation
To build the documentation do
\code{.sh}
catkin build ct_doc -v --make-args doc # build the doc 
\endcode
This will build the documentation and open it in your browser.


\section run_tests Run Unit Tests
The unit tests are writte as <a href="http://code.google.com/p/googletest/">Google Tests</a>.
To run unit tests and verify operation execute
\code{.sh}
catkin run_tests
\endcode

*/