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

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ethz-adrl/towr

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XPP Optimizer

The optimizer (NLP, QP) for foothold positions and body trajectory for a quadruped robot.


Dependencies

  • Eigen

      $ sudo apt-get install libeigen3-dev
    
  • Ipopt/Snopt. For this it's best to see the appropriate repos:

       $ git clone https://bitbucket.org/adrlab/ipopt.git
    
  • xpp_common

       $ git clone [email protected]:adrlab/xpp_common.git
    
  • (Optional) Google unit test framework

      $ sudo apt-get install libgtest-dev       # download headers and sources                  
      $ cd /usr/src/gtest             
      $ sudo cmake CMakeLists.txt
      $ sudo make                               # build library        
      $ sudo cp *.a /usr/lib                    # copy libgtest.a and libgtest_main.a to your /usr/lib folder
    

Configuration

You must set the environmental variable 'IPOPT_DIR' to point to the Ipopt Installation.

$ export IPOPT_DIR=~/3rd_party_software/ipopt

Contact

Alexander W. Winkler ([email protected])