## dynobud - your dynamic optimization buddy

[![Build Status](https://secure.travis-ci.org/ghorn/dynobud.png?branch=master)](http://travis-ci.org/ghorn/dynobud)

This library has a few distinct features, which may later be broken into separate packages:
* high-level, strongly-typed interface to CasADi
* NLP modeling/solving (examples/EasyNlp.hs, examples/BasicNlp.hs, examples/SofaExpando.hs)
* OCP modeling/solving (examles/Glider.hs, examples/DaeColl.hs, examples/Rocket.hs, etc)
* toy OCP solver interface (examples/ToyOcp.hs)
* proof of concept monadic NLP modeling DSL (examples/NlpDsl.hs)
* live plotter for OCP solving (examples/Dynoplot.hs)

This package is built on top of CasADi (www.casadi.org).
You will have to install the CasADi C++ libraries and the casadi-bindings haskell package.
See http://hackage.haskell.org/package/casadi-bindings for instructions.
Installing ipopt is also highly recommended if you want to solve NLPs (`apt-get install coinor-libipopt-dev` if you're lucky)

Please keep in mind that this library is continually evolving as my PhD progresses and I expect it to be very unstable.
The API is also very messy as the library is evolving fast and it's unclear which parts are internal and external.
Nevertheless, I have started making hackage releases so that my few users have some snapshots to version-constrain against.
The library is tested on travis-ci, so the unit tests pass and the examples build.

To install:

    >> cabal update
    >> cabal install dynobud

casadi-bindings will probably fail, re-read casadi-bindings instructions

To install dependencies, you may need to do something like this:

    >> cabal install alex
    >> cabal install happy
    >> cabal install gtk2hs-buildtools

    >> sudo apt-get install coinor-libipopt-dev liblapack-dev libblas-dev libglpk-dev libgl1-mesa-dev libglu1-mesa-dev freeglut3-dev libzmq3-dev libglib2.0-dev libcairo2-dev libpango1.0-dev libgtk2.0-dev libgsl0-dev

To build dynobud from source

    >> git clone git://github.com:ghorn/dynobud.git
    >> cd dynobud
    >> cabal install --only-dependencies            # without examples
    >> cabal install --only-dependencies -fexamples # with examples
    >> cabal configure
    >> cabal build

Try running the examples in dynobud/examples.

    >> cabal configure -fexamples
    >> cabal build
    >> dist/build/rocket/rocket

Known issues:

    "user error: out of memory"

If you get this ^ error on OSX while using the plotting tools, your
cairo/pango/gtk may be linked to an XQuartz library.
Add "extra-lib-dirs=/usr/local/lib" (or wherever the correct libraries are)
to your .cabal/config and re-install haskell bindings to cairo/pango/gtk/etc