{"id":21601500,"url":"https://github.com/simple-robotics/proxsuite-nlp","last_synced_at":"2025-04-07T13:07:02.550Z","repository":{"id":213274547,"uuid":"484058125","full_name":"Simple-Robotics/proxsuite-nlp","owner":"Simple-Robotics","description":"A primal-dual augmented Lagrangian solver for nonlinear programming on 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align=\"center\"\u003e\n  \u003cimg src=\"https://raw.githubusercontent.com/Simple-Robotics/proxsuite-nlp/main/doc/images/proxsuite-logo.png\" width=\"700\" alt=\"Proxsuite Logo\" align=\"center\"/\u003e\n\u003c/p\u003e\n\n# proxsuite-nlp: a package for nonlinear optimization on manifolds\n\n**proxsuite-nlp** is a C++ library, implementing a primal-dual augmented Lagrangian-type algorithm for nonlinear optimization on manifolds, as well as some modelling tools.\n\n## Installation\n\n### From Conda\n\nFrom [our channel](https://anaconda.org/simple-robotics/proxsuite-nlp)\n\n```bash\nconda install -c simple-robotics proxsuite-nlp\n```\n\n### From source with Pixi\n\nTo build **proxsuite-nlp** from source the easiest way is to use [Pixi](https://pixi.sh/latest/#installation).\n\n[Pixi](https://pixi.sh/latest/) is a cross-platform package management tool for developers that\nwill install all required dependencies in `.pixi` directory.\nIt's used by our CI agent so you have the guarantee to get the right dependencies.\n\nRun the following command to install dependencies, configure, build and test the project:\n\n```bash\npixi run test\n```\n\nThe project will be built in the `build` directory.\nYou can run `pixi shell` and build the project with `cmake` and `ninja` manually.\n\n### From source\n\nClone this repo using\n\n```bash\ngit clone [url-to-repo] --recursive\n```\n\nCreate a build tree using CMake, build and install:\n\n```bash\ncd your/checkout/folder/\ncmake -S . -B build\ncmake --build build/ --config Release --target install\n```\n\n**Dependencies**\n\n* CMake (with the [JRL CMake modules](https://github.com/jrl-umi3218/jrl-cmakemodules))\n* Eigen\u003e=3.3.7\n* [fmtlib](https://github.com/fmtlib/fmt)\u003e=9.1.0, \u003c11\n* [Boost](https://www.boost.org/)\u003e=1.71\n* (optional) [eigenpy](https://github.com/stack-of-tasks/eigenpy)\u003e=3.2.0 | [conda](https://anaconda.org/conda-forge/eigenpy) (Python bindings)\n* (optional) [pinocchio](https://github.com/stack-of-tasks/pinocchio) | [conda](https://anaconda.org/conda-forge/pinocchio)\n* a C++-14 compliant compiler\n\n**Python dependencies:**\n\n* numpy\n* matplotlib\n* typed-argument-parser\n* meshcat-python\n\n### Notes\n\n* To build against a Conda environment, activate the environment and add `export CMAKE_PREFIX_PATH=$CONDA_PREFIX` before running CMake.\n* To build the documentation:\n\n    ```bash\n    cd build/\n    make doc\n    ```\n\n## Credits\n\nThe following people have been involved in the development of **proxsuite-nlp** and are warmly thanked for their contributions:\n\n* [Wilson Jallet](https://github.com/ManifoldFR) (LAAS-CNRS/Inria): main developer and manager of the project\n* [Sarah El Kazdadi](https://github.com/sarah-ek) (Inria): linear algebra modules developer\n* [Fabian Schramm](https://github.com/fabinsch) (Inria): core developper\n* [Joris Vaillant](https://github.com/jorisv) (Inria): core developer\n* [Justin Carpentier](https://github.com/jcarpent) (Inria): project coordinator\n* [Nicolas Mansard](https://github.com/nmansard) (LAAS-CNRS): project coordinator\n\n## Acknowledgments\n\nThe development of **proxsuite-nlp** is actively supported by the [Willow team](https://www.di.ens.fr/willow/) [@INRIA](http://www.inria.fr) and the [Gepetto team](http://projects.laas.fr/gepetto/) [@LAAS-CNRS](http://www.laas.fr).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsimple-robotics%2Fproxsuite-nlp","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsimple-robotics%2Fproxsuite-nlp","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsimple-robotics%2Fproxsuite-nlp/lists"}