https://github.com/simple-robotics/aligator-bench

https://github.com/simple-robotics/aligator-bench

Last synced: about 1 month ago
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• Host: GitHub
• URL: https://github.com/simple-robotics/aligator-bench
• Owner: Simple-Robotics
• Created: 2024-04-29T13:02:42.000Z (8 months ago)
• Default Branch: main
• Last Pushed: 2024-11-21T15:27:53.000Z (about 1 month ago)
• Last Synced: 2024-11-21T16:20:32.528Z (about 1 month ago)
• Language: Python
• Size: 685 KB
• Stars: 1
• Watchers: 5
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# aligator-bench

This is a set of small benchmarks for the [aligator](https://github.com/Simple-Robotics/aligator) optimal control library.

## Contents

We test the following solvers:

- aligator's `SolverProxDDP`

- ALTRO (using a fork included as a submodule)

- the generic NLP solver [Ipopt](https://coin-or.github.io/Ipopt/)

![solo12_solve_times](results/solo_yoga_solve_times.png)



  SOLO-12 solve times



![ur10_solve_times](results/ur10_ballistic_solve_times.png)



  UR10 solve times



## Building

**Dependencies** Building this repo requires:

- [aligator](https://github.com/Simple-Robotics/aligator)

- [gtest](https://github.com/google/googletest) | [conda](https://anaconda.org/conda-forge/gtest)

- [ipopt](https://coin-or.github.io/Ipopt/) | [repo](https://github.com/coin-or/Ipopt) | [conda](https://anaconda.org/conda-forge/ipopt)

These dependencies can easily be installed from conda/mamba:

```bash

mamba install -c conda-forge aligator gtest

```

The first step, as always, is to checkout the repository (recursively, as to get the submodules)

```bash

git clone https://github.com/Simple-Robotics/aligator-bench --recursive

```

Then, create the build dir and build away:

```bash

mkdir build && cd build

cmake ..  # with your usual options e.g. -DCMAKE_PREFIX_PATH=$CONDA_PREFIX

cmake --build . -j

```