An optimization framework that links CasADi, ipopt and biorbd for Optimal Control Problem
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The way to install bioptim on your computer is to install from the sources.
You simply have to download the source, navigate to the root folder and (assuming your conda environment is loaded if needed) type the following command :
python setup.py installWARNING: Since the last refactor, this method won't work anymore, you will have to run bioptim from the folder or to install it manually.
Please note that this method will not install the dependencies for you, therefore you will have to install them manually. Moreover, the setuptools dependencies must be installed prior to the installation in order for it to work.
bioptim relies on several libraries. The most obvious one is biorbd, but pyomeca is also requires and some others.
There are two ways to install Biorbd, to choose the better way for you please refer to the ReadMe file here : https://github.com/pyomeca/biorbd.
Moreover, bioviz is optional but can be useful to visualize your simulations. To install bioviz please refer to the ReadMe file here : https://github.com/pyomeca/bioviz.
The first hand dependencies (meaning that some dependencies may require other libraries themselves) are: rbdl-casadi (https://github.com/pyomeca/rbdl-casadi) with the casadi backend (https://web.casadi.org/), pandas (https://pandas.pydata.org/), numpy (https://numpy.org/), scipy (https://scipy.org/), matplotlib (https://matplotlib.org/), vtk (https://vtk.org/), PyQt (https://www.riverbankcomputing.com/software/pyqt), pyomeca (https://github.com/pyomeca/pyomeca), tinyxml (http://www.grinninglizard.com/tinyxmldocs/index.html) and Ipopt (https://github.com/coin-or/Ipopt). All these can manually be install using (assuming the anaconda environment is loaded if needed) pip3 command or the Anaconda's following command.
conda install casadi rbdl=*=*casadi* biorbd=*=*casadi* [bioviz=*=*casadi*] -cconda-forgeTODO
TODO + Lagrange objective functions are integrated using rectangle method.
TODO + It is expected to slow down the optimization by about 15%
If you use biorb-optim, we would be grateful if you could cite it as follows:
@misc{Michaud2018bioptim, author = {Michaud, Benjamin and Begon, Mickael}, title = {bioptim: An optimal control framework for biomechanical analyses using biorbd}, howpublished={Web page}, url = {https://github.com/pyomeca/bioptim}, year = {2020} }