In my recent installation I found out that you need to use -lf2c to include the library. It's installation on Ubuntu 16.04.

Dear professor Becerra,
today I compiled PSOPT package and installed on my Debian (sid) machine according instructions. Everything went well, the package compiled without any error as well as the examples. However, when I tried to run the "alpine" example, the program terminated with the following runtime error:

ADOL-C error: function sparse_jac can only be used if linked with ColPack terminate called after throwing an instance of 'FatalError' what(): errorcode=-1 function=sparse_jac file=sparsedrivers.cpp line=438 what= Aborted

All the other exmples behaved the same way.
Please, help me to solve my problem.

Best regards and thank you in advance, J. Kordik

I want to pass user data to the callbacks, especially 'dae'. I found in the documentation that you could set user_data in the problem somewhere in the setup of the problem and then access the problem and the user_data through the workspace. However, I'm calling rk4_propagate outside of a callback and I need a workspace to pass to it. In the example code the workspace is set to NULL. I tried instantiating a workspace and passing that but the program crashed when the workspace was destroyed.
What is the best way to pass user data to the rk4_propagate function?

Hello,
As the title says, psopt.h defines a variable which is a class in the geometry library CGAL. That's why programs which make use of both dependencies cannot compile. I suggest that you use std::numeric_limits<T>::infinity from the header limits so that you don't need to define your own infinity.
Edit: Since there are no tests, I cannot simply commit the proposed solution. After all, I am changing a variable. I still need to fix this issue as soon as possible, so I will go the safe route and put inf into a namespace and fix all compile errors. I guess this won't break anything.

Best regards

Philipp

While I had PSOPT smoothly working on Ubuntu 14.04, the same cannot be said in Ubuntu 15.10: when the example problems are run (any of them) a segfault results. On my own examples (which were previously running) this segfault occurs when 'psopt_level2_setup(problem, algorithm);' is called. Before I completely reinstalled PSOPT, I tried the old binaries that I had compiled in Ubuntu 14.04 ... and they worked without a problem.

Whenever I try to compile one of the examples using the make command (e.g. make bioreactor), I receive the error
"No rule to make target '../../lib/libpsopt.a', needed by 'name of file' Stop."

In the directory psopt/dmatrix/doc/latex/ there are two files in the repository:
DMatrix_Class_Reference.pdf
DMatrix_class_reference.pdf
which differ only in the case of the "C".

This causes problems on filesystems like Windows where filenames are caseinsensitive.
I want to suggest to remove one of them. However I can't be sure which one should be kept.

Dear developers,
I would like to use this library, but it is inconvenient to integrate into my build system. Using CMake makes things so much easier and should be the first choice when working on C++ projects.
I could write a CMake file which could replace all files related to make and create a pull request. Please let me know if you are interested!

Schulz0r

i want to implement psopt for launch vehicle trajectory optimization. the launch vehicle configuration is with strapons. i have to optimize strapon ignition time and strapon separation time using psopt. Also i dont want to add additional phases for this problem. Is it possible to give additional design variables in addition to states and controls in PSOPT. if so kindly provide the detials.

Greatings,

Following the instructions for the Ubuntu 22.04 it generates binaries for all examples ( in the psopt/build/examples folder ) but when I try to build the examples in the folder psopt/examples/ using cmake . I receive the error message

-- Configuring done
CMake Error at CMakeLists.txt:4 (add_executable):
  Target "goddard" links to target "PkgConfig::ipopt" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:4 (add_executable):
  Target "goddard" links to target "Eigen3::Eigen" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:5 (add_dependencies):
  The dependency target "PSOPT" of target "goddard" does not exist.

At line 46 in top level CMakeLists.txt file, CMAKE_SOURCE_DIR is used as the source path when installing include directory.

install(DIRECTORY "${CMAKE_SOURCE_DIR}/include/" DESTINATION "include/${PROJECT_NAME}")

However, this may cause error if this package is used as a submodule of another CMake project, such as

- Other Prj
  - TOP CMakeLists.txt
  - PSOPT
    - CMakeLists.txt for PSOPT

In that case, CMAKE_SOURCE_DIR would be <Other Prj> instead of <Other Prj>/PSOPT.

Use CMAKE_CURRENT_SOURCE_DIR instead of CMAKE_SOURCE_DIR could be one way to fix this.

How gradient and jacobian is computed in PSOPT to supply for IPOPT. I have gone through the example code, garadient of jacobian computation are not computed.

Hi,
the psopt.org domain is offline and it is noted on the webpage, that the domain is for sale.
As the URL is still in the ReadMe, I wanted to notify you about this issue.

Hi and thank you for this package!
Have you considered possibly porting it to Julia?
The code would be much easier to maintain & use.

Check this out for POC: https://github.com/JuliaMPC/NLOptControl.jl

I believe there is a typo in the tag for 5.0.2, instead being 5.02. Since psopt is getting packaged, it would be good to have the format fixed to keep the order unambiguously increasing. Thanks!

Greetings,

I am unable to install PSOPT in MacOS because of the following error. Please recommend!

(base) ARSLA18090409:build urbanair1$ cmake -DBUILD_EXAMPLES=ON -DCXX=g++-10 -DCC=gcc-10 ..
-- AdolC has not been installed on this system and will be automatically added to this project.
-- Configuring done
-- Generating done
-- Build files have been written to: /Users/urbanair1/PSOPT/build/adolc-download
[100%] Built target adolc
CMake Error at CMakeLists.txt:30 (target_compile_features):
target_compile_features no known features for CXX compiler

"AppleClang"

version 10.0.1.10010046.

-- Configuring incomplete, errors occurred!
See also "/Users/urbanair1/PSOPT/build/CMakeFiles/CMakeOutput.log".

I already installed PSOPT and the examples were compiled and they execute well. However, when I try to compile my own files using the instructions included in the PDF manual:

$ cd psopt/build/examples/user
$ make

I get the following message make: *** No targets specified and no makefile found. Stop. I was wondering, where can I find the required makefile?

I'm trying a thrust vector problem. I've modified launch.cxx for a single phase with constant force and constant mass. When I run psopt the IPOPT fails with the message:
EXIT: Invalid number in NLP function or derivative detected.
I've included a link to user.cxx on Google Drive.

user.cxx

I found out that the installation script "install-ubuntu-16.04.sh" fails for non-english OS, where the "Downloads" folder does not exist (e.g., it has been renamed as "Scaricamenti" in italian).

The problem can be fixed by creating a "Downloads" folder in the $HOME path.

Dear Victor,

I am having a compilation error while trying to build PSOPT with the provided installation script. The error:

/usr/bin/g++ -c -O0 -g -I/home/listov/adolc_base/include -I../../dmatrix/include -I/cppexamples -I../src -DLAPACK -DUNIX -DSPARSE_MATRIX -DUSE_IPOPT -I../../SuiteSparse/CXSparse/Include -I../../SuiteSparse/CXSparse/../SuiteSparse_config -I../../lusol/csrc -I/home/listov/Ipopt-3.12.12/Ipopt/src/Interfaces -I/home/listov/Ipopt-3.12.12/Ipopt/src/Common -I/home/listov/Ipopt-3.12.12/Ipopt/src/LinAlg -fomit-frame-pointer -pipe -DNDEBUG -pedantic-errors -Wimplicit -Wparentheses -Wreturn-type -Wcast-qual -Wall -Wpointer-arith -Wwrite-strings -Wconversion -fPIC -DHAVE_MALLOC -std=c++11 ../src/psopt.cxx -o ../src/psopt.o cc1plus: warning: command line option ‘-Wimplicit’ is valid for C/ObjC but not for C++ In file included from ../src/psopt.cxx:40:0: ../src/psopt.h:1159:10: fatal error: IpIpoptApplication.hpp: No such file or directory #include "IpIpoptApplication.hpp" ^~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated.

locate IpIpoptApplication.hpp however, shows:
/usr/include/coin/IpIpoptApplication.hpp

System: Ubuntu 18.04, gcc v7.3.0

Thanks,
Peter

Every example in this project has predefined constraint functions (e.g. events) where values do not change during runtime. Since I have a lot of trajectories to plan which can have arbitrary start and endpoints, I need to reset the functions every time I want to plan a new trajectory. Sadly, the problem definition struct uses C-style function pointers, which do not allow for that.

I would like to see std::function to replace the C-style pointers, so it is possible to use lambdas which capture variables (e.g. the start and stop state) from outside the function. I think this change would not even require any changes to the examples because std::functions are pretty backward compatible.
To illustrate what I want to do, see following code. The first block depicts what is possible right now:

Eigen::Matrix<adouble, 6, 1> myFinalState; // fill this vector appropriately
Prob problem;
// you can assign lambdas to function pointers btw
problem.events = [](adouble* some_args) {
    // cannot see myFinalState
    // thus cannot set it
}

With std::function, following will be possible:

Eigen::Matrix<adouble, 6, 1> myFinalState; // fill this vector appropriately
Prob problem;
// std::function allows to capture myFinalState
problem.events = [&myFinalState](adouble* some_args) {
    Eigen::Map<Eigen::Matrix<adouble, 6, 1>> eventVector(e, 6);    // wrap pointer into eigen vector
    eventVector << myFinalState;    // set final state values here
}

psopt 5, propagate.cxx, line 138:
for (i=0;i<nparams;i++) param[i-1] = parameters(i);

should probably be modified to:
for (i=0;i<nparams;i++) param[i] = parameters(i);

best,
navot

I noticed that the two smooth_linear_interpolation functions defined in the interpolation.cxx file are slightly different. In the second declaration of the smooth_linear_interpolation: smooth_linear_interpolation(adouble* y, adouble& x, adouble* Xdata, adouble* Ydata, int n), the following lines are commented:

//  Si = smooth_heaviside( (x-(Xdata[0]-100*a)), a ) - smooth_heaviside( (x-Xdata[0]), a );
//  *y+=Si*Ydata[0];
//  Si = smooth_heaviside( (x-Xdata[n-1]), a ) - smooth_heaviside( (x-(Xdata[n-1]+100*a)), a );
//  *y+=Si*Ydata[n-1];

whereas these lines are not commented in the first declaration of the smooth_linear_interpolation (smooth_linear_interpolation(adouble* y, adouble& x, DMatrix& Xdata, DMatrix& Ydata, int n))

Which one is the intended one?

Dear Victor,

I have a problem with the function int psopt(Sol& solution, Prob& problem, Alg& algorithm) which solves the trajectory optimization problem. Is it possible to mark the arguments for the algorithm and problem with const? I looked into the function and it did not seem to me that the optimizer changes anything about the two mentioned structs. Of course, it changes the solution for obvious reasons.
So, for my use case, I would like to change the function declaration to int psopt(Sol& solution, const Prob& problem, const Alg& algorithm).
The reason is that the function where I use PSOPT is marked as const and does not let me use psopt() due to the reason stated above.

Greetings

Philipp

The two link arm example twolinkarm.cxx throws the following error

**** Run time error
**** To trace this error, set up your debugger to break at
**** function 'error_message', then do a backtrace.
**** A diagnostic message is given below:
**** ====> Index error in operator()(long) <====

The error occurs here when called from here.

Thanks