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https://github.com/simple-robotics/proxsuite-nlp
A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.
https://github.com/simple-robotics/proxsuite-nlp
nonlinear-optimization robotics
Last synced: about 14 hours ago
JSON representation
A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.
- Host: GitHub
- URL: https://github.com/simple-robotics/proxsuite-nlp
- Owner: Simple-Robotics
- License: bsd-2-clause
- Created: 2022-04-21T13:16:12.000Z (almost 3 years ago)
- Default Branch: main
- Last Pushed: 2025-01-07T09:57:21.000Z (17 days ago)
- Last Synced: 2025-01-16T15:07:45.396Z (8 days ago)
- Topics: nonlinear-optimization, robotics
- Language: C++
- Homepage: https://simple-robotics.github.io/proxsuite-nlp/
- Size: 1.78 MB
- Stars: 61
- Watchers: 8
- Forks: 11
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Citation: CITATION.cff
Awesome Lists containing this project
README
# proxsuite-nlp: a package for nonlinear optimization on manifolds
**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.
## Installation
### From Conda
From [our channel](https://anaconda.org/simple-robotics/proxsuite-nlp)
```bash
conda install -c simple-robotics proxsuite-nlp
```
### From source with Pixi
To build **proxsuite-nlp** from source the easiest way is to use [Pixi](https://pixi.sh/latest/#installation).
[Pixi](https://pixi.sh/latest/) is a cross-platform package management tool for developers that
will install all required dependencies in `.pixi` directory.
It's used by our CI agent so you have the guarantee to get the right dependencies.
Run the following command to install dependencies, configure, build and test the project:
```bash
pixi run test
```
The project will be built in the `build` directory.
You can run `pixi shell` and build the project with `cmake` and `ninja` manually.
### From source
Clone this repo using
```bash
git clone [url-to-repo] --recursive
```
Create a build tree using CMake, build and install:
```bash
cd your/checkout/folder/
cmake -S . -B build
cmake --build build/ --config Release --target install
```
**Dependencies**
* CMake (with the [JRL CMake modules](https://github.com/jrl-umi3218/jrl-cmakemodules))
* Eigen>=3.3.7
* [fmtlib](https://github.com/fmtlib/fmt)>=9.1.0, <11
* [Boost](https://www.boost.org/)>=1.71
* (optional) [eigenpy](https://github.com/stack-of-tasks/eigenpy)>=3.2.0 | [conda](https://anaconda.org/conda-forge/eigenpy) (Python bindings)
* (optional) [pinocchio](https://github.com/stack-of-tasks/pinocchio) | [conda](https://anaconda.org/conda-forge/pinocchio)
* a C++-14 compliant compiler
**Python dependencies:**
* numpy
* matplotlib
* typed-argument-parser
* meshcat-python
### Notes
* To build against a Conda environment, activate the environment and add `export CMAKE_PREFIX_PATH=$CONDA_PREFIX` before running CMake.
* To build the documentation:
```bash
cd build/
make doc
```
## Credits
The following people have been involved in the development of **proxsuite-nlp** and are warmly thanked for their contributions:
* [Wilson Jallet](https://github.com/ManifoldFR) (LAAS-CNRS/Inria): main developer and manager of the project
* [Sarah El Kazdadi](https://github.com/sarah-ek) (Inria): linear algebra modules developer
* [Fabian Schramm](https://github.com/fabinsch) (Inria): core developper
* [Joris Vaillant](https://github.com/jorisv) (Inria): core developer
* [Justin Carpentier](https://github.com/jcarpent) (Inria): project coordinator
* [Nicolas Mansard](https://github.com/nmansard) (LAAS-CNRS): project coordinator
## Acknowledgments
The 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).