Model predictive control

We've had a number of students have problems installing gurobi and the MPT LCP solver today on the more recent MacBooks. Here's some suggestions if you're stuck.

• If you get an error when solving an explicit MPC problem (e.g., exercise 6), it may be because your LCP solver is not compiled for your version of MATLAB / Mac
  
  1. Go to the directory [YOUR ROOT]/tbxmanager/toolboxes/lcp/1.0.3/maci64/source/  where [YOUR ROOT] is the directory that you put the tbxmanager and run `lcp_compile`
  
  2. If (1) doesn't work, then you can replace the `lcp.mexmaci64` and `lcp_sfun.mexmaci64` files in this directory with those given below.
  
  
• If you're getting an error about a missing GUROBI license file, then you need to copy your license file gurobi.lic to the directory  /Library/gurobi951/
  (note that depending on your version of gurobi, this may be /Library/gurobi950/ or something like that)
  
  
• If you're getting a "security error" on your mac when you run casadi, it's because of your mac's security and privacy settings. Open "System preferences" => "Security and Privacy" => "General". You should see a comment at the bottom saying something like "xxx casadi xxx was not opened because it is not signed", with a button next to it saying "open anyway". Click "open anyway" and run casaid again. You'll need to repeat this several times until it works (for all the different files of casadi)