Name		Name	Last commit message	Last commit date
parent directory ..
CMakeLists.txt		CMakeLists.txt
README.md		README.md
generate.py		generate.py

README.md

Integrate L4CasADi into Pure c(++) Project

Code Generation

Run python generate.py to generate the c++ code.

Compile

Replace <L4CASADI_LIB_DIR> in CMakeLists.txt with the printed path.
Create a build directory mkdir build && cd build.
Run cmake .. to generate the makefile.
Run make to compile the executable.

Run

Set LD_LIBRARY_PATH such that Torch and the generated library can be found.
export LD_LIBRARY_PATH=<TORCH_LIB_DIR>:<L4CASADI_GEN_LIB_DIR>:$LD_LIBRARY_PATH.
(Replace <TORCH_LIB_DIR> and <L4CASADI_GEN_LIB_DIR> with the printed paths.)
Run ./l4cpp
Type in the input to the function and press enter.
Output is printed to the console.