casadi
symforce
casadi | symforce | |
---|---|---|
4 | 15 | |
1,553 | 1,347 | |
1.7% | 0.8% | |
9.3 | 8.9 | |
6 days ago | 7 days ago | |
C++ | C++ | |
GNU Lesser General Public License v3.0 only | Apache License 2.0 |
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casadi
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pyomo VS casadi - a user suggested alternative
2 projects | 5 Sep 2023
Interface for several solvers and integrators.
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(Direct) Collocation in (Time) Optimal Control
Howdy! Collocation methods can be... tricky. For NMPC control of vehicles, success has been had using direct multiple shooting. Also easier to implement and more intuitive. In fact, this example from the GH is pretty instructive: https://github.com/casadi/casadi/blob/master/docs/examples/python/race_car.py
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Are there any optimization libraries/packages that use automatic differentiation?
JuMP.jl (Julia) or casADi (Python) are good choices.
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Should I switch over completely to Julia from Python for numerical analysis/computing?
Python is not mature in this area. If you ask Google what Simulink for Python is, you get responses that point to dead libraries that were never feature complete and slow. The absolute closest is CASADI which is nice for some things but doesn't even have a true causal modeling interface and is mostly abandoned by the developers (they put a patch in every now and then, but just look at the commit graph), and it's slow compared to the Julia tools, so much so that PyBAMM is interfacing with ModelingToolkit.jl in Julia for a performance boost. Python is not the place to be for causal/acausal modeling or controls. Anyone who is saying "Python is mature" here is saying it in the abstract and not in the context of your actual question. Yes, Python has web development frameworks. No it does not have good libraries for tons of areas (control, acausal modeling, pharmacometrics, etc.).
symforce
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SymPy: Symbolic Mathematics in Python
You might find this library interesting: https://github.com/symforce-org/symforce
- SymForce is a fast symbolic computation and code generation library for robotics
- Fast Symbolic Computation for Robotics
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Literature request: Lie groups and algebra
Personally I followed along the text implementing things using symforce (https://symforce.org/) instead of Sophus.
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Jacobian Matrix possible on arduino?
It isn't related to Arduino, and may be overkill for this application, but Symforce has some cool tools for implementing the 1st option.
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What optimization libraries are you using?
I've been paying around with Symforce and the more I get into it the more excited I get about it. It lets you prototype in high level symbolic math in Python, then once you get things working it autogenerates super optimized C++ for you. And it has the built in tangent space stuff for factor graphs like GTSAM
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Skydio Researchers Open-Source ‘SymForce’: A Fast Symbolic Computation And Code Generation Library For Robotics Applications Like Computer Vision, etc.
Continue reading | Checkout the paper and github
- Fast symbolic computation, code generation, and nonlinear optimization for robotics
What are some alternatives?
ceres-solver - A large scale non-linear optimization library
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
ModelingToolkit.jl - An acausal modeling framework for automatically parallelized scientific machine learning (SciML) in Julia. A computer algebra system for integrated symbolics for physics-informed machine learning and automated transformations of differential equations
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
symbolic - A Symbolic Package for Octave using SymPy
Colosseum - Open source simulator for autonomous robotics built on Unreal Engine with support for Unity
jsbsim - An open source flight dynamics & control software library
ANMS-Codes - Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution
fricas - Official repository of the FriCAS computer algebra system
wyvern - Automatic conversion of call by value into call by need in the LLVM IR.
openvslam - OpenVSLAM: A Versatile Visual SLAM Framework