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Getting started

You can clone the repository with

git clone https://github.com/OpenOCL/OpenOCL.git

or download the Matlab code as zip, you need to unzip the downloaded folder, and navigate to it. Then run an example, e.g.

ocl.examples.cartpole

If you would like to save your path using savepath or the Matlab path manager, add the main folder of OpenOCL without subfolders, and save the path. It is best to save the path before running OpenOCL so that the sub-directories of OpenOCL will not be saved to the path (by executing ocl scripts, some folder will be added to the path).

You can also get OpenOCL through Mathworks file exchange.

Other configurations

If you have another configuration you need to setup CasADi manually.

Here is a step-by-step guide:

• Get the latest CasADi version for Matlab and follow the installation instructions on their page.
• Add the main CasADi directory to your Matlab path, not including subdirectories: addpath 'path/to/casadi'
• Clone the OpenOCL repository or download the Matlab code as zip, unzip, and add the folder to your path: addpath 'path/to/OpenOCL-vX.XX'. Again do not include the sub-directories!
• Run one of the examples, e.g.: ocl.examples.cartpole

If you would like to save your path using savepath or the Matlab path manager, do this before running the example in order to not include the sub-directories.

Let us know if you run into any problems at info@openocl.org!