matlab

Use L4CasADi in Matlab

Prerequisites

• Download CasADi for Matlab from https://web.casadi.org/get/ and place it in this folder.

Function Export

• Run python export.py to export the torch model as L4CasADi library.
• This will also output the LIB_DIR to export as environment variable.

Set Environment Variables in Matlab

Make sure that LD_LIBRARY_PATH (DYLD_LIBRARY_PATH on MacOS) is set to LIB_DIR in Matlab on start.

getenv("LD_LIBRARY_PATH")

Setting the env with Matlab's setenv will most likely not work as it only sets the variable locally. Instead, you will have to set the env variable in the shell before starting Matlab from the same shell.

Example for MacOS:

export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:<LIB_DIR>
DYLD_LIBRARY_PATH="${DYLD_LIBRARY_PATH}" /Applications/MATLAB_R2023b.app/Contents/MacOS/MATLAB

Run

Run the use_l4casadi_f.m script in Matlab.