YinghaoJia98 / OSQP_EIGEN0.6.3ForUnitreeMPC

OSQP_EIGEN0.6.3ForUnitreeMPC

osqp-eigen

Simple C++ wrapper for osqp library.

Dependeces

• osqp of course 😄;
• Eigen3;
• cmake;
• Catch2 (only for testing).

Build the library and the application

Linux / macOs

git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build && cd build
cmake ../
make
[sudo] make install

If you want to enable tests set the BUILD_TESTING option to ON.

Notice: sudo is not necessary if you specify the CMAKE_INSTALL_PREFIX. In this case it is necessary to add in the .bashrc the following lines:

Linux / macOs

export OsqpEigen_DIR=/path/where/you/installed/

Notice: The choice of OsqpEigen_DIR name for the environment variable is not random. Indeed <package>_DIR is one of the search paths of find_package().

How to use the wrapper

Here you can find a simple example that shows how to use this library.

API

Here you can find the documentation.

Bug reports and support

All types of issues are welcome 😄.