8000 Document cmake options by FreyJo · Pull Request #1503 · acados/acados · GitHub
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Document cmake options #1503

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Apr 24, 2025
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Document cmake options #1503

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CMake: set default HPIPM_TARGET to GENERIC, previously used X64_AUTOM…
FreyJo Apr 23, 2025
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document cmake options
FreyJo Apr 23, 2025
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -64,8 +64,8 @@ if ("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "aarch64")
else()
set(BLASFEO_TARGET "X64_AUTOMATIC" CACHE STRING "BLASFEO Target architecture")
endif()
set(HPIPM_TARGET "X64_AUTOMATIC" CACHE STRING "HPIPM Target architecture")
set(LA "HIGH_PERFORMANCE" CACHE STRING "Linear algebra optimization level")
set(HPIPM_TARGET "GENERIC" CACHE STRING "HPIPM Target architecture")

if (CMAKE_SYSTEM_NAME MATCHES "Windows")
set(BUILD_SHARED_LIBS OFF CACHE STRING "Build shared libraries")
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38 changes: 34 additions & 4 deletions docs/installation/index.md
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Expand Up @@ -24,12 +24,42 @@ Install `acados` as follows:
mkdir -p build
cd build
cmake -DACADOS_WITH_QPOASES=ON ..
# add more optional arguments e.g. -DACADOS_WITH_OSQP=OFF/ON -DACADOS_INSTALL_DIR=<path_to_acados_installation_folder> above
# add more optional arguments e.g. -DACADOS_WITH_DAQP=ON, a list of CMake options is provided below
make install -j4
```
NOTE: you can set the `BLASFEO_TARGET` in `<acados_root_folder>/CMakeLists.txt`.
For a list of supported targets, we refer to https://github.com/giaf/blasfeo/blob/master/README.md .
The default is `X64_AUTOMATIC`, which attempts to determine the best available target for your machine.

#### CMake options:
Below is a list of CMake options available for configuring the `acados` build.
These options can be passed to the `cmake` command using the `-D` flag, e.g., `cmake -DOPTION_NAME=VALUE ..`.
Adjust these options based on your requirements.

| **Option Name** | **Description** | **Default Value** |
|--------------------------------|------------------------------------------------------------|-------------------|
| `ACADOS_WITH_QPOASES` | Compile acados with optional QP solver qpOASES | `OFF` |
| `ACADOS_WITH_DAQP` | Compile acados with optional QP solver DAQP | `OFF` |
| `ACADOS_WITH_QPDUNES` | Compile acados with optional QP solver qpDUNES | `OFF` |
| `ACADOS_WITH_OSQP` | Compile acados with optional QP solver OSQP | `OFF` |
| `ACADOS_WITH_HPMPC` | Compile acados with optional QP solver HPMPC | `OFF` |
| `ACADOS_WITH_QORE` | Compile acados with optional QP solver QORE (experimental) | `OFF` |
| `ACADOS_WITH_OOQP` | Compile acados with optional QP solver OOQP (experimental) | `OFF` |
| `BLASFEO_TARGET` | BLASFEO Target architecture, see BLASFEO repository for more information. Possible values include: `X64_AUTOMATIC`, `GENERIC`, `X64_INTEL_SKYLAKE_X`, `X64_INTEL_HASWELL`, `X64_INTEL_SANDY_BRIDGE`, `X64_INTEL_CORE`, `X64_AMD_BULLDOZER`, `ARMV8A_APPLE_M1`, `ARMV8A_ARM_CORTEX_A76`, `ARMV8A_ARM_CORTEX_A73`, `ARMV8A_ARM_CORTEX_A57`, `ARMV8A_ARM_CORTEX_A55`, `ARMV8A_ARM_CORTEX_A53`, `ARMV7A_ARM_CORTEX_A15`, `ARMV7A_ARM_CORTEX_A9`, `ARMV7A_ARM_CORTEX_A7` | `X64_AUTOMATIC` |
| `LA` | Linear algebra optimization level for BLASFEO | `HIGH_PERFORMANCE`|
| `ACADOS_WITH_SYSTEM_BLASFEO` | Use BLASFEO found via `find_package(blasfeo)` instead of compiling it | `OFF` |
| `HPIPM_TARGET` | HPIPM Target architecture. Possible values: `AVX`, `GENERIC` | `GENERIC` |
| `ACADOS_WITH_OPENMP` | OpenMP parallelization | `OFF` |
| `ACADOS_NUM_THREADS` | Number of threads for OpenMP parallelization within one NLP solver. If not set, `omp_get_max_threads` will be used to determine the number of threads. If multiple solves should be parallelized, e.g. with an `AcadosOcpBatchSolver` or `AcadosSimBatchSolver`, set this to 1. | Not set |
| `ACADOS_SILENT` | No console status output | `OFF` |
| `ACADOS_DEBUG_SQP_PRINT_QPS_TO_FILE` | Print QP inputs and outputs to file in SQP | `OFF` |
| `CMAKE_BUILD_TYPE` | Build type (e.g., Release, Debug, etc.) | `Release` |
| `ACADOS_UNIT_TESTS` | Compile unit tests | `OFF` |
| `ACADOS_EXAMPLES` | Compile C examples | `OFF` |
| `ACADOS_OCTAVE` | Octave interface CMake tests | `OFF` |
| `ACADOS_PYTHON` | Python interface CMake tests (Note: Python interface installation is independent of this) | `OFF` |
| `BUILD_SHARED_LIBS` | Build shared libraries | `ON` (non-Windows)|
<!-- Deprecated, remove everywhere? -->
<!-- | `ACADOS_LINT` | Compile Lint | `OFF` | -->

For more details on specific options, refer to the comments in the `CMakeLists.txt` file.

#### **Make** (not recommended)
NOTE: This build system is not actively tested and might be removed in the future! It is strongly recommended to use the `CMake` build system.
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