ifopt
LazyMath
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| ifopt | LazyMath | |
|---|---|---|
| 2 | 2 | |
| 727 | 4 | |
| 2.5% | - | |
| 4.0 | 0.0 | |
| 8 months ago | over 2 years ago | |
| C++ | C++ | |
| BSD 3-clause "New" or "Revised" License | The Unlicense |
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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.
LazyMath
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A good alternative to Matlab's fminsearch?
This library has a minimizer which can be used with and without knowledge of the derivative. See chapter 3 in the description for a simple example.
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Header-only complex linear solver and function minimizer in C++
Meanwhile, the library and examples can be found here in Github.
What are some alternatives?
webots - Webots Robot Simulator
biteopt - Derivative-Free Global Optimization Method (C++, Python binding)
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 !!!)
amgcl - C++ library for solving large sparse linear systems with algebraic multigrid method
control-toolbox - The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
SpeciaLUT - Runtime choosing of template specializations using compile-time lookup-tables. Compile all states of a template function, but execute the optimal one at runtime.
towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
ALS-Community - Replicated and optimized community version of Advanced Locomotion System V4 for Unreal Engine 5.3 with additional features & bug fixes
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
palanteer - Visual Python and C++ nanosecond profiler, logger, tests enabler
matio-cpp - A C++ wrapper of the matio library, with memory ownership handling, to read and write .mat files.
symforce - Fast symbolic computation, code generation, and nonlinear optimization for robotics