Top 6 C++ optimal-control Projects

casadi

4 1,553 9.3 C++

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

Project mention: pyomo VS casadi - a user suggested alternative | libhunt.com/r/pyomo | 2023-09-05

Interface for several solvers and integrators.

control-toolbox

1 1,294 0.0 C++

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
WorkOS

workos.com sponsored

The modern identity platform for B2B SaaS. The APIs are flexible and easy-to-use, supporting authentication, user identity, and complex enterprise features like SSO and SCIM provisioning.
teb_local_planner

1 961 2.5 C++

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
ocs2

1 710 0.0 C++

Optimal Control for Switched Systems
crocoddyl

1 693 8.5 C++

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
libmpc

8 104 5.1 C++

libmpc++ is a C++ header-only library to solve linear and non-linear MPC

Project mention: When creating a nonlinear MPC controller with acados, is it recommended to develop in C++ or use the Matlab interface to generate C++ code? | /r/ControlTheory | 2023-07-21

If you are interested it’s free and open-source! https://github.com/nicolapiccinelli/libmpc

NOTE: The open source projects on this list are ordered by number of github stars. The number of mentions indicates repo mentiontions in the last 12 Months or since we started tracking (Dec 2020).