Step 1: Unzip the software snopt7.2-12.2.zip somewhere convenient. See the README.* files and INSTALL.ALL for instructions on how to recompile if that is necessary. See the doc subdirectory for manuals. This is licensed software so don't distributed beyond the Robotics Institute.
Step 2: Unzip the software snopt-examples.zip somewhere else convenient. cd to the ldog1 subdirectory. edit the makefile to have the right path information for wherever you installed snopt.
Step 3: get the shared library path set up.
Something like
setenv LD_LIBRARY_PATH $LD_LIBRARY_PATH:/home/cga/research/opt-software/snopt7.2-12.2/lib
or
setenv LD_LIBRARY_PATH /home/cga/research/opt-software/snopt7.2-12.2/lib
if the first item fails. These commands depend on what shell you use.
Step 4: test compilation. In ldog1:
rm *.o main
make
./main
The last step above runs the compiled program.