https://github.com/ethz-adrl/towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

biped collocation computer-graphics eigen ifopt ipopt legged-robots locomotion motion-planning nonlinear-programming physics-based-animation quadruped robot ros snopt trajectory-optimization xpp

Last synced: 16 May 2025

https://github.com/ethz-adrl/ifopt

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

catkin cmake cpp eigen ipopt mathematical-programming nlp nonlinear-optimization optimization robotics ros snopt trajectory-optimization

Last synced: 15 May 2025

https://github.com/geonhee-lee/mpc_ros

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

collision-avoidance gazebo-simulation ipopt mpc navigation optimal-control path-tracking planner ros simulation trajectory trajectory-tracking unicycle

Last synced: 12 May 2025

https://github.com/juanmanzanero/fastest-lap

Fastest-lap is a vehicle dynamics simulator. It can be used to understand vehicle dynamics, to learn about driving techniques, to design car prototypes, or just for fun!

circuit cpp dynamics formula1 ipopt modeling motogp optimal-control python racecar racing simulator vehicle

Last synced: 24 Apr 2026

https://github.com/hybridrobotics/nmpc-dclf-dcbf

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

control-barrier-functions control-lyapunov-functions ipopt matlab model-predictive-control mpc-control nonlinear-optimization obstacle-avoidance-algorithm quadratic-programming safety-critical-systems

Last synced: 09 Apr 2025

https://github.com/JuliaMPC/NLOptControl.jl

nonlinear control optimization tool

control control-systems ipopt julia nonlinear-dynamics nonlinear-optimization solver

Last synced: 04 May 2025

https://github.com/juliasmoothoptimizers/nlpmodelsipopt.jl

A thin IPOPT wrapper for NLPModels

ipopt julia julia-language nlpmodels nonlinear-programming optimization

Last synced: 08 Sep 2025

https://github.com/robotology/find-superquadric

Fit a partial point cloud with a superquadric

fitting ipopt optimization point-cloud superquadrics vtk

Last synced: 19 Jun 2025

https://github.com/cvanaret/nonconvex_solver_comparison

This repo collects results of nonlinear optimization solvers on standard benchmark problems

augmented-lagrangian-method benchmark benchmarking filtersqp interior-point-algorithms ipopt newtons-method nonlinear-optimization nonlinear-optimization-algorithms nonlinear-programming nonlinear-programming-algorithms optimization performance-profile sequential-quadratic-programming snopt software-benchmarking sqp uno-solver

Last synced: 17 Mar 2025

https://github.com/non-contradiction/ipoptjlr

ipopt optimization r

Last synced: 18 Apr 2025

https://github.com/sigopti/pyodhean-server

district-heating-network flask flask-smorest ipopt optimization pyomo python

Last synced: 08 Oct 2025

https://github.com/sandeep026/numerical-optimal-control

Direct methods to solve optimal control problems in python and MATLAB

casadi direct-methods ipopt optimal-control optimization

Last synced: 31 May 2026

https://github.com/sandeep026/casadi_notes

experimenting with casadi ecosystem

casadi cvodes ipopt mpc python sundials

Last synced: 31 May 2026