libmpc++ is a C++ library to solve linear and non-linear MPC. The library is written in modern C++20 and it is tested to work on Linux, macOS and Windows.
- gcc version (>= 10.3.0)
The libmpc++ website can be found at the following link: https://altairlab.gitlab.io/optcontrol/libmpc/
The library depends on the following external libraries which must be installed on the machine before using libmpc++
- Eigen3 header-only linear algebra library (https://eigen.tuxfamily.org/index.php?title=Main_Page)
- NLopt set of solvers for nonlinear programming (https://nlopt.readthedocs.io/en/latest/)
- OSQP solver for convex quadratic programming (https://osqp.org)
If you are a developer, to setup the debug environment you also need to install:
boostfor stacktrace debug (https://www.boost.org)Catch2test suite (https://github.com/catchorg/Catch2)gcovr,lcovGCC code coverage
The latest version of libmpc++ is available from GitHub https://github.com/nicolapiccinelli/libmpc/releases and does not require any installation process other than the one required by its dependecies.
This is an example of a CMakeLists.txt file to use libmpc++ in your project.
cmake_minimum_required(VERSION 3.0)
project(your_project_name)
# set the C++ standard to C++ 20
set(CMAKE_CXX_STANDARD 20)
# set the C++ compiler to use O3
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")
find_package(mpc++ CONFIG REQUIRED)
# # Declare a C++ library
include_directories(${mpc++_INCLUDE_DIRS})
add_executable(${PROJECT_NAME} main.cpp)
target_link_libraries(${PROJECT_NAME} mpc++)Docker is helpful for creating a stable localized development environment. Install Docker with the convenience script:
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.shYou can build the development image with the command below. Note that the image will be tagged with the name specified after the '-t' option.
docker build -t dev_image .