[robotics-worldwide] [software] Control Toolbox (CT) - Library for MPC and Trajectory Optimization
it is our pleasure to announce the Control Toolbox (CT), an open-source
C++ library aiming at enabling robotics researchers to solve optimal
control as well as nonlinear model predictive control problems.
The library contains a collection of tools to model dynamical systems,
design and evaluate controllers and efficiently solve trajectory
The CT has been designed with efficiency and real-time robot control in
mind - it allows for fast robot modeling and optimal control problem setup:
* it includes high-performance implementations of iLQR/SLQ, Gauss-Newton
Multiple Shooting, Direct Single and Multiple Shooting, and also
provides a variety of interfaces to third-party Optimal Control and NLP
solvers such as HPIPM, IPOPT and SNOPT.
* a cost function and constraints module allows to quickly set up
optimal control problems.
efficient first- and second-order derivative code can be easily obtained
using automatic differentiation and code generation.
* it provides an interface to a state-of-the-art rigid body dynamics
modeling tool (RoCoGen), generating auto-differentiable rigid-body
dynamics and kinematics equations.
* several recent publications describe use cases and demonstrate the
toolbox’ potential, e.g. by running full body NMPC on quadruped hardware
at over 180 Hz.