Quadratic Programming

It is a simple test for QP(quadratic programming) problem.This package can help you generate 2d path for manipulator or quadcoptor. The package is implemented by C APi in python-cvxopt and Eigen.

Testbed

1

• Ubuntu 16.04
• intel i7-7700
• gcc 5.4.0
• cmake v3.5.1

2

• Ubuntu 16.04
• intel i9-7980XE
• gcc 5.4.0
• cmake v3.5.2

Requirements

It is necessary to install python-cvxopt lib and eigen lib.

sudo apt-get install libeigen3-dev
sudo apt-get install python-cvxopt

How to use?

The project can be directly imported by Qt5.9.

1. Cmake

cd qpc 
mkdir build && cd build
cmake ..
make
./cvxqp

2. Qt 5.9

cd QPsolve
mkdir build && cd build
qmake ..
make
./QPSolve

3. rospackage

clone folder "qptrajectory_ros" to ~/catkin_ws/src

cd ~/catkin_ws

catkin_make

rosrun qptrajectory qptest

rqt_plot

Troubleshoot

catkin build ( catkin_make ) compile error

Errors     << qptrajectory:make ~/catkin_ws/logs/qptrajectory/build.make.005.log             
//usr/lib/x86_64-linux-gnu/libapr-1.so.0: undefined reference to `uuid_generate@UUID_1.0'
collect2: error: ld returned 1 exit status
make[2]: *** [~/catkin_ws/devel/.private/qptrajectory/lib/qptrajectory/qptest] Error 1
make[1]: *** [CMakeFiles/qptest.dir/all] Error 2
make: *** [all] Error 2

It might suggest that the libuuid version is too old, try to fix it by conda install -c conda-forge libuuid

reference