Implementation of numerical solvers used in the Machines in Motion Laboratory. In particular, the Sequential Quadratic Programming (SQP) solver decribed in [arxiv] that solves efficiently nonlinear constrained OCPs.
All solvers are implemented by using Crocoddyl (v2.0) as the base software. Consquently, Crocoddyl users can use our efficient solvers while constructing their OCPs using the same API they are used to. The default solvers of Crocoddyl are also re-implemented for benchmarking purposes (namely DDP and FDDP) but with modified termination criteria and line-search.
Examples of how to use the solvers can be found in the examples directory.
- Pinocchio (rigid-body dynamics computations)
- Crocoddyl (optimal control library)
- ProxQP (quadratic programming) [OPTIONAL]
First clone the repo :
git clone --recursive https://github.com/machines-in-motion/mim_solvers.git
cd mim_solvers && mkdir build && cd build
cmake .. [-DCMAKE_BUILD_TYPE=Release] [-DCMAKE_INSTALL_PREFIX=...]
make [-j6] && make install
At the root of your workspace :
colcon build [optional args]