sqp_proxqp

A Sequential Quardratic Program Solver using ProxQP

The library depends on Eigen andn ProxQP.

Running Instructions

0. clone the repo

git clone [email protected]:VineetTambe/sqp_proxqp.git

1. Make a new build directory

cd sqp_proxqp
mkdir build
cd build

2. run cmake

cmake ..

3. run make

make

Example

The project currently has 1 simple example simulating a brick falling in a 2D world.

The state is the velocity vector with the axis being the y axis and z axis in the world frame.

The initial velocity is [1,4] m/s

The initial position is [0,1] m

We simulate the motion for 5 seconds.

To run the example build the project and cd into the build directory and run the brick_falling_sqp executable by running:

./brick_falling_sqp

There is another example brick_sqp.cpp which solves the same problem as above but without using the library and directly calling proxQP.