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A toolbox for trajectory optimization of dynamical systems

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Trajectory Optimization

A toolbox for trajectory optimization of dynamical systems

Installation

This toolbox uses pybind11 to compile C++ code and use it in python. The following setup has been test only while using Conda envs.

  • Install Pybind11:

    conda install pybind11
  • Compile OpenBLAS:

    USE_THREAD=0 C=gcc FC=gfortran NO_AFFINITY=1 NO_SHARED=1 COMMON_OPT=" -O2 -march=native "  make
    • Edit local CMakeLists.txt to reflect the path of OpenBLAS
  • Configure Armadillo:

    ./configure
    • Edit local CMakeLists.txt to reflect the path of Armadillo
  • Install Python Package:

    pip install -e .