NMPC

Non-linear model predictive control (NMPC) library

This repository provides ROS packages for the following NMPC methods

nmpc_ddp

NMPC with differential dynamic drogramming (DDP)

FMPC: Fast NMPC combining the direct multiple shooting (DMS) method, the primal-dual interior point (PDIP) method, and Riccati recursion (RR)

NMPC with continuation/GMRES method (C/GMRES)

Name		Name	Last commit message	Last commit date
Latest commit History 181 Commits
.github/workflows		.github/workflows
cmake @ 54f4237		cmake @ 54f4237
debian		debian
doc		doc
nmpc		nmpc
nmpc_cgmres		nmpc_cgmres
nmpc_ddp		nmpc_ddp
nmpc_fmpc		nmpc_fmpc
.clang-format		.clang-format
.clang-format-check.sh		.clang-format-check.sh
.clang-format-common.sh		.clang-format-common.sh
.clang-format-fix.sh		.clang-format-fix.sh
.gitignore		.gitignore
.gitmodules		.gitmodules
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md