ifopt | An Eigen-based , light-weight C++ Interface to Nonlinear | Robotics library

The easiest way to install is through the ROS binaries and you're all set!. In case you don't use ROS or the binaries don't exist for your distro, you can easily build these packages from source. For this, install the required dependencies Cmake, Eigen and Ipopt using.
Install git clone https://github.com/ethz-adrl/ifopt.git && cd ifopt mkdir build && cd build cmake .. make sudo make install # copies files in this folder to /usr/local/* # sudo xargs rm < install_manifest.txt # in case you want to uninstall the above
Use: To use in your cmake project, see this minimal CMakeLists.txt: find_package(ifopt) # Formulate (ifopt:ifopt_core) and solve (ifopt::ifopt_ipopt) the problem add_executable(main main.cpp) # Pull in include directories, libraries, ... target_link_libraries(main PUBLIC ifopt::ifopt_ipopt)
Install: Download catkin or catkin command line tools, then: cd catkin_ws/src git clone https://github.com/ethz-adrl/ifopt.git cd .. catkin_make_isolated # `catkin build` if you are using catkin command-line tools source ./devel/setup.bash
Use: Include in your catkin project by adding to your CMakeLists.txt add_compile_options(-std=c++11) find_package(catkin COMPONENTS ifopt) include_directories(${catkin_INCLUDE_DIRS}) target_link_libraries(foo ${catkin_LIBRARIES}) Add the following to your package.xml: <package> <depend>ifopt</depend> </package>