control-toolbox
ifopt
| control-toolbox | ifopt | |
|---|---|---|
| 1 | 2 | |
| 1,363 | 735 | |
| 5.1% | 2.3% | |
| 0.0 | 4.0 | |
| over 1 year ago | 8 months ago | |
| C++ | C++ | |
| BSD 2-clause "Simplified" License | BSD 3-clause "New" or "Revised" License |
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control-toolbox
ifopt
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[Q] Library for NLP and Trajectory Optimization
Ifopt - seems incredible but the C++ level is unfortunately above my current skill. https://github.com/ethz-adrl/ifopt
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building a ROS1 node that depends on a shared precompiled library
Here is an example CMakeLists.txt and associated cmake module FindSNOPT.cmake that does what you want.
What are some alternatives?
libmpc - libmpc++ is a C++ header-only library to solve linear and non-linear MPC
webots - Webots Robot Simulator
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Monocular-Visual-Odometry - A simple monocular visual odometry (part of vSLAM) by ORB keypoints with initialization, tracking, local map and bundle adjustment. (WARNING: Hi, I'm sorry that this project is tuned for course demo, not for real world applications !!!)
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
QDriverStation - Cross-platform clone of the FRC Driver Station
Heuristic_path_planners - Collection of classes and functions to allow 2D/3D path generation with heuristic algorithms such as A*, Theta* and LazyTheta* and ROS Interfaces
teb_local_planner - An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
LazyMath - Complex Conjugate Gradient linear solver and Levenberg-Marquardt minimizer with and without constraints in C++
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
matio-cpp - A C++ wrapper of the matio library, with memory ownership handling, to read and write .mat files.