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install_windows.html
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN"
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<head>
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<link rel="stylesheet" href="jemdoc.css" type="text/css" />
<title>Windows installation</title>
</head>
<body>
<table summary="Table for page layout." id="tlayout">
<tr valign="top">
<td id="layout-menu">
<div class="menu-category">ACADO Toolkit</div>
<div class="menu-item"><a href="index.html">Overview</a></div>
<div class="menu-item"><a href="features.html">Features</a></div>
<div class="menu-item"><a href="licensing.html">Licensing</a></div>
<div class="menu-item"><a href="publications.html">Publications</a></div>
<div class="menu-item"><a href="developers.html">Developers</a></div>
<div class="menu-item"><a href="blog.html">Blog</a></div>
<div class="menu-category">Installation</div>
<div class="menu-item"><a href="install_linux.html">Linux</a></div>
<div class="menu-item"><a href="install_osx.html">OS X</a></div>
<div class="menu-item"><a href="install_windows.html" class="current">Windows</a></div>
<div class="menu-category">Interfaces</div>
<div class="menu-item"><a href="matlab_overview.html">MATLAB interface</a></div>
<div class="menu-category">The Code <br /> Generation Tool</div>
<div class="menu-item"><a href="cgt_overview.html">Overview</a></div>
<div class="menu-category">Support</div>
<div class="menu-item"><a href="documentation.html">Documentation</a></div>
<div class="menu-item"><a href="extra_support.html">Additional</a></div>
<div class="menu-category">For developers</div>
<div class="menu-item"><a href="dev_guide.html">Guidelines</a></div>
<div class="menu-item"><a href="known_issues.html">Known issues</a></div>
<div class="menu-item"><a href="getting_involved.html">Getting involved</a></div>
</td>
<td id="layout-content">
<div id="toptitle">
<h1>Windows installation</h1>
</div>
<p>Here is explained how to download, compile and use ACADO toolkit with <a href="http://www.cmake.org" target=“blank”>CMake</a> build system in Windows.</p>
<div class="infoblock">
<div class="blocktitle">MATLAB installation</div>
<div class="blockcontent">
<p>The instructions below are for building of the C++ library. If you are looking for the instructions on how to install and use the MATLAB interface, please <i><a href="matlab_overview.html" target=“blank”>click here</a></i>.</p>
</div></div>
<h2>Installation for usage within <a href="http://www.cygwin.com" target=“blank”>Cygwin</a></h2>
<h3>Prerequisites</h3>
<ul>
<li><p>Go to the Cygwin website, download and execute the setup program. This may require administrator priveleges.</p>
</li>
<li><p>Follow the instructions of the installation program. Make sure that you chose an installation path without any spaces (e.g. c:/cygwin).</p>
</li>
<li><p>In “select packages” step, select at least the following packages for installation:</p>
<ul>
<li><p><b>Devel</b> category: binutils, cmake, (doxygen), gcc4, gcc4-core, gcc4-g++, make, git.</p>
</li>
<li><p><b>Graphics</b> category: gnuplot.</p>
</li>
<li><p><b>X11</b> category: xinit.</p>
</li></ul>
</li>
<li><p>Click next and wait for the automatic installation.</p>
</li>
<li><p>Start cygwin (a linux terminal will open). To use plotting, you need to open a terminal with the X-server. You can do this directly typing in “run” field:</p>
</li>
</ul>
<div class="codeblock">
<div class="blockcontent"><pre>
C:\cygwin\bin\run.exe /usr/bin/bash.exe -l -c /usr/bin/startxwin.exe
</pre></div></div>
<ul>
<li><p>Type in the terminal:</p>
</li>
</ul>
<div class="codeblock">
<div class="blockcontent"><pre>
cp /usr/bin/make.exe /usr/bin/gmake.exe
</pre></div></div>
<h3>Installation</h3>
<p>Please download the toolkit code. Our suggestion is to always clone <b>stable</b> branch:</p>
<div class="codeblock">
<div class="blockcontent"><pre>
git clone https://github.com/acado/acado.git -b stable ACADOtoolkit
</pre></div></div>
<p>We will refer to the ACADOtoolkit folder as <ACADO_ROOT>.</p>
<p>Go to ACADOtoolkit folder and create a build folder for an out-of-source build:</p>
<div class="codeblock">
<div class="blockcontent"><pre>
cd ACADOtoolkit
mkdir build
cd build
</pre></div></div>
<p>Run CMake to generate makefiles and start the building process:</p>
<div class="codeblock">
<div class="blockcontent"><pre>
cmake ..
make
</pre></div></div>
<p>Check whether the installation was successful by running an example:</p>
<div class="codeblock">
<div class="blockcontent"><pre>
cd ..
cd examples/getting_started
./simple_ocp
</pre></div></div>
<p>Now you can proceed to the <a href="documentation.html" target=“blank”>documentation</a> related page, where you can find out more about tutorials, source code documentation etc.</p>
<h3>Additonal</h3>
<p>In case you want to compile ACADO in debug mode, you can run CMake like this:</p>
<div class="codeblock">
<div class="blockcontent"><pre>
cmake -DCMAKE_BUILD_TYPE=Debug ..
</pre></div></div>
<h2>Installation for usage with Visual Studio</h2>
<h3>Prerequisites</h3>
<ul>
<li><p>Visual Studio Express Edition can be obtained <a href="http://www.microsoft.com/visualstudio/en-us" target=“blank”>here</a>. Please always download the latest version.</p>
</li>
<li><p><a href="http://git-scm.com/" target=“blank”>GIT</a> client, called tortoisegit, can be downloaded <a href="https://code.google.com/p/tortoisegit/" target=“blank”>here</a>.</p>
</li>
<li><p>A tool for building the source code, called CMake, can be downloaded from <a href="http://www.cmake.org/cmake/resources/software.html" target=“blank”>this</a> webpage.</p>
</li>
<li><p>Windows binaries for the visualization program Gnuplot can be downloaded <a href="http://sourceforge.net/projects/gnuplot/files/gnuplot/" target=“blank”>here</a>.</p>
</li>
<li><p>A tool for generation of API documentation, Doxygen, can be download <a href="http://www.stack.nl/~dimitri/doxygen/" target=“blank”>here</a>.</p>
</li>
</ul>
<div class="infoblock">
<div class="blocktitle">NOTE</div>
<div class="blockcontent">
<p>Gnuplot and Doxygen are optional. ACADO can work without Gnuplot and/or Doxygen, but in this case you will not be able to visualize results and/or generate API documentation.</p>
</div></div>
<h3>Installation</h3>
<p>Now you can download the toolkit code by cloning the GIT repository:</p>
<ul>
<li><p>Open your file manager and make a folder called “ACADOtoolkit”.</p>
</li>
<li><p>Open tortoise git application and fill in the fields as described <a href="https://code.google.com/p/tortoisegit/wiki" target=“blank”>here</a>:</p>
<ul>
<li><p>Enter the URL for cloning. Our suggestion is to always check out <b>stable</b> branch <tt>https:<i></i>github.com/acado/acado.git</tt></p>
</li>
<li><p>Point “Directory” field to the ACADOtoolkit folder.</p>
</li>
<li><p>Check the “Branch” field and enter <b>stable</b>.</p>
</li></ul>
</li>
<li><p>Click “OK” and wait for the code to be downloaded.</p>
</li>
</ul>
<p>After the checkout, you will need to generate a Visual Studio (VS) solution (a set of VS projects). For this purpose:</p>
<ul>
<li><p>Make a folder called “build” inside “ACADOtoolkit” folder you just created.</p>
</li>
<li><p>Start CMake application (from the “Start” menu).</p>
</li>
<li><p>“Where is the source code” field: navigate to the folder “ACADOtoolkit”</p>
</li>
<li><p>“Where to build the binaries” field: navigate to the folder “ACADOtoolkit/build”</p>
</li>
<li><p>Gnuplot related:</p>
<ul>
<li><p>By default, CMake will search for a Gnuplot executable in folder “C:/gnuplot/bin”.</p>
</li>
<li><p>If your Gnuplot installation is not installed there then you have to enter the absolute path of the executable in the “Value” field corresponding to variable “GNUPLOT_EXECUTABLE_PATH” in the CMake window.</p>
</li></ul>
</li>
<li><p>Click “Configure”. You will be asked to select a version of VS that is installed on your computer – please select exactly the one you have.</p>
<ul>
<li><p>Gnuplot related: If CMake found the Gnuplot executable you should see a line in the log box (at the bottom of the CMake window) stating: “Looking for Gnuplot executable: found.”. Otherwise, it will state “… not found.”, and in this case return to the previous step.</p>
</li></ul>
</li>
<li><p>Click “Generate”. This will trigger generation of a VS solution.</p>
</li>
</ul>
<p>OK, now we have generated a VS solution that will build the ACADO toolkit libraries and examples. It is the time to start building ACADO libraries and examples:</p>
<ul>
<li><p>Please start Visual Studio now (from the “Start” menu).</p>
</li>
<li><p>Click “File” -> “Open” and select the ACADO.sln file inside “ACADOtoolkit/build” folder.</p>
</li>
<li><p>Click “Debug” -> “Build solution” and wait until libraries and examples are built.</p>
</li>
</ul>
<h2>Alternative code download</h2>
<p>If for any reason you cannot download the code using GIT or you do not want to use GIT (this is not encouraged!), you can download the code in a zip archive</p>
<ol>
<li><p>current code from the <b>stable</b> branch <a href="http://www.acadotoolkit.org/zip/acadotoolkit-current-stable.zip" target=“blank”>acadotoolkit-current-stable.zip</a> or</p>
</li>
<li><p>current code from the <b>master</b> branch <a href="http://www.acadotoolkit.org/zip/acadotoolkit-current-master.zip" target=“blank”>acadotoolkit-current-master.zip</a>.</p>
</li>
</ol>
<p>Those archives are automatically updated after each successfully compiled and tested commit we push to the GIT repository.</p>
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