PyCppAD is an open-source framework that provides bindings for the CppAD Automatic Differentiation(CppAD) C++ library in Python. PyCppAD also includes support for the CppADCodeGen (CppADCodeGen) library, which exploits CppAD functionality to do code generation.

As simple as that:

   conda install pycppad -c conda-forge

As simple as that:

   pip install pycppad

PyCppAD depends on the following dependencies:

• Boost.Python
• Eigen3
• EigenPy
• CppAD
• CppADCodeGen (Optional)

Once the dependencies have been installed, follow the following commands to compile PyCppAD:

cd ${path_to_your_development_source}/
git clone --recursive https://github.com/Simple-Robotics/pycppad.git
cd pycppad
mkdir _build-RELEASE
cd _build-RELEASE
cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=${path_to_your_installation}
make install

Set up the path_to_your_installation and path_to_your_development_source based on your personal development environment.

Alternatively, to compile with CppADCodeGen support, add -DBUILD_WITH_CPPAD_CODEGEN_BINDINGS=ON to the cmake command, and follow the build sequence as before:

cmake .. -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=${path_to_your_installation} -DBUILD_WITH_CPPAD_CODEGEN_BINDINGS=ON

The following people have been involved in the development of PyCppAD and are warmly thanked for their contributions:

• Rohan Budhiraja (Inria): main developer
• Justin Carpentier (Inria): main developer and manager of the project
• Joris Vaillant (Inria): core developer and manager of the project

The development of PyCppAD is supported by the Willow team @INRIA.