{"id":18624612,"url":"https://github.com/kumarrobotics/kr_ilqr_optimizer","last_synced_at":"2026-03-09T02:32:23.076Z","repository":{"id":225881291,"uuid":"675538571","full_name":"KumarRobotics/kr_ilqr_optimizer","owner":"KumarRobotics","description":"Use iLQR package Altro to fly the quadrotor","archived":false,"fork":false,"pushed_at":"2024-05-21T07:30:59.000Z","size":609,"stargazers_count":9,"open_issues_count":0,"forks_count":1,"subscribers_count":5,"default_branch":"icra_final","last_synced_at":"2025-04-11T13:13:23.332Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/KumarRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2023-08-07T06:47:05.000Z","updated_at":"2024-07-15T08:05:44.000Z","dependencies_parsed_at":"2024-11-07T04:31:44.911Z","dependency_job_id":"8468e680-ec18-41b0-b756-fe58d7d8445a","html_url":"https://github.com/KumarRobotics/kr_ilqr_optimizer","commit_stats":null,"previous_names":["kumarrobotics/kr_ilqr_optimizer"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/KumarRobotics/kr_ilqr_optimizer","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fkr_ilqr_optimizer","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fkr_ilqr_optimizer/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fkr_ilqr_optimizer/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fkr_ilqr_optimizer/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/KumarRobotics","download_url":"https://codeload.github.com/KumarRobotics/kr_ilqr_optimizer/tar.gz/refs/heads/icra_final","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fkr_ilqr_optimizer/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":30280857,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-03-09T02:23:26.802Z","status":"ssl_error","status_checked_at":"2026-03-09T02:22:46.175Z","response_time":61,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.6:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-07T04:29:43.569Z","updated_at":"2026-03-09T02:32:23.042Z","avatar_url":"https://github.com/KumarRobotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# KR iLQR Optimizer\n## Maintainer: \nYifei Shao (yishao at seas.upenn.edu)\n## Description\nThis package hooks up the Altro solver with the KR_autonomous flight stack to do constrained trajectory optimization.\nIt can work in 2 ways\n1. Run the solver in a separate node\n2. Functions in this package will are called in the action_planner package to run the solver easily\n## Dependencies\n1. [Altro](https://github.com/bjack205/altro): When building altro, remember to not include the -march=native flag in the CMakeLists.txt file. After building, install it as a staic library so find_packages() can find it. **Forked Altro is not yet publically avaible, and I don't know if the original version works.**\n2. Eigen \u003e 3.4.0 \n## ToDos\n1. Don't use finite difference to compute the jacobian of dynamics.\n2. Move Altro Fork as a dependency inside this repo\n3. Build planning_detail option to run this.\n4. Build python binding for generating motion primitives\n5. MPC style initialization, make it much faster\n6. Add polyotpe constraints\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkumarrobotics%2Fkr_ilqr_optimizer","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkumarrobotics%2Fkr_ilqr_optimizer","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkumarrobotics%2Fkr_ilqr_optimizer/lists"}