OOQP-Eigen Interface

Overview

This C++ software provides a simple interface to use OOQP with the Eigen linear algebra library.

The Object Oriented Quadratic Programming solver package (OOQP) is written by Mike Gertz and Steve Wright from the University of Chicago (copyright notice). This software is an independent interface to the OOQP library and is not affiliated with OOQP in any way.

Authors: Péter Fankhauser, Christian Gehring, Stelian Coros
Contact: Péter Fankhauser, [email protected]
Affiliation: Autonomous Systems Lab, ETH Zurich

Links

• OOQP User Guide
• OOQP Paper
• The MA27 documentation is under ma27-1.0.0.tar.gz -> /doc/ma27_Fortran.pdf

Installation

Dependencies

• OOQP: Object-oriented software for quadratic programming,
• Eigen: Linear algebra library.

Building

This version uses Catkin as build system. There is a CMake version in the cmake branch.

To build, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_ws/src
git clone https://github.com/ethz-asl/ooqp_eigen_interface.git
cd ../
catkin_make

Building using Findooqp.cmake

Since ooqp_catkin can't be distributed, I modified this package to add a find_package command to search for ooqp on the system in the standard directories usr/local/include and /usr/local/lib. You need to build ooqp and ma27 with the -fPIC option. To do so run in the ma27 folder:

./configure FFLAGS="-O -fPIC"
make
sudo make install

And run in the ooqp folder

export CXXFLAGS="-O -fPIC"
make -j4
sudo make install

After that you can build using catkin_make or catkin build. If using the former change CMakeLists.txt

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/${PROJECT_NAME}/cmake")

Otherwise leave CMAKE_MODULE_PATH alone.

Usage

TODO: Add an example project.

Unit Tests

Run the unit tests with

catkin_make run_tests_ooqp_eigen_interface

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.