Constrained Differential Dynamic Programming (CDDP) solver in C++

Overview

This is an optimal control solver library using constrained differential dynamic programming (CDDP) written in C++. This library is particularly useful for mobile robot trajectory optimization and model predictive control (MPC).

This library is still under construction.

Author: Tomohiro Sasaki

Installation

Requirements

• Eigen (Linear Algebra Library in CPP)

sudo apt-get install libeigen3-dev # For Ubuntu
brew install eigen # For macOS

• OSQP (QP solver) and OSQP-Eigen (C++ OSQP Wrapper)

pip install osqp

Building

git clone https://github.com/astomodynamics/CDDP-cpp 
mkdir build
cd build
cmake ..
make
# make install

Basic Usage

References

• Zhaoming Xie, C. Karen Liu, and Kris Hauser, "Differential Dynamic Programming with Nonlinear Constraints," 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.

Citing

If you use this work in an academic context, please cite this repository.

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