{"repo":"loco-3d/crocoddyl","free":true,"listed":false,"github":"https://github.com/loco-3d/crocoddyl","clone":"git clone https://github.com/loco-3d/crocoddyl.git","description":"Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms","language":"C++","stars":1276,"topics":["optimal-control","motion-planning","differential-dynamic-programming","legged-robotics","model-predictive-control","code-generation","ros","conda","crocoddyl","robotics"],"license":"BSD-3-Clause","category":"dev-tools","readme_excerpt":"Introduction Crocoddyl is an optimal control library for robot control under contact sequence. Its solvers are based on novel and efficient differential dynamic programming (DDP) algorithms. Crocoddyl computes optimal trajectories and feedback gains. It uses Pinocchio for fast computation of robot dynamics and analytical derivatives. If you want to learn more about Crocoddyl and its solvers, we suggest reading [[1]](#1) [[2]](#2) [[3]](#3) and visiting PUBLICATIONS.md. If you want to follow the current developments and contribute, please directly refer to the devel branch. :crocodile: Crocoddyl features Crocoddyl is versatile: Various optimal control solvers (FDDP, OdynSQP, Intro, Ipopt, etc) Analytical and sparse derivatives via Pinocchio Differential geometry support leveraging Pinocchio Various integrators, dynamics, costs and constraints Numerical differentiation support Automatic differentiation support via CppAD Crocoddyl is efficient and flexible: Cache friendly Multi-threading support via OpenMP Python bindings (including abstractions) via Boost Python C++11/14/17/20 compliant Extensively tested Code generation in both C++ and Python via CppADCoGen :penguin: Installation Crocoddyl can be easily installed on various Linux (Ubuntu, Fedora, etc.) and Unix distributions (Mac OS X, BSD, etc.). Below, there are different ways to install Crocoddyl. On ArchLinux With your favorite AUR helper, eg. paru: :dragon: From Just run the following command in the terminal: Conda instal","default_branch":null,"files":null,"tree":[],"storefront":"/r/loco-3d","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/loco-3d/crocoddyl/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}