A Sequential Quardratic Program Solver using ProxQP
The library depends on Eigen andn ProxQP.
- clone the repo
git clone [email protected]:VineetTambe/sqp_proxqp.git
- Make a new build directory
cd sqp_proxqp
mkdir build
cd build
- run cmake
cmake ..
- run make
make
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.