https://github.com/kumarrobotics/kr_ilqr_optimizer
Use iLQR package Altro to fly the quadrotor
https://github.com/kumarrobotics/kr_ilqr_optimizer
Last synced: about 1 month ago
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Use iLQR package Altro to fly the quadrotor
- Host: GitHub
- URL: https://github.com/kumarrobotics/kr_ilqr_optimizer
- Owner: KumarRobotics
- Created: 2023-08-07T06:47:05.000Z (almost 2 years ago)
- Default Branch: icra_final
- Last Pushed: 2024-05-21T07:30:59.000Z (about 1 year ago)
- Last Synced: 2025-03-25T09:03:02.401Z (about 2 months ago)
- Language: C++
- Size: 595 KB
- Stars: 9
- Watchers: 5
- Forks: 1
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
# KR iLQR Optimizer
## Maintainer:
Yifei Shao (yishao at seas.upenn.edu)
## Description
This package hooks up the Altro solver with the KR_autonomous flight stack to do constrained trajectory optimization.
It can work in 2 ways
1. Run the solver in a separate node
2. Functions in this package will are called in the action_planner package to run the solver easily
## Dependencies
1. [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.**
2. Eigen > 3.4.0
## ToDos
1. Don't use finite difference to compute the jacobian of dynamics.
2. Move Altro Fork as a dependency inside this repo
3. Build planning_detail option to run this.
4. Build python binding for generating motion primitives
5. MPC style initialization, make it much faster
6. Add polyotpe constraints