Dear ROS community,
We’re happy to announce the release of version 2.0 of ifopt.
http://wiki.ros.org/ifopt is a modern, light-weight, Eigen-based C++ interface to Nonlinear Programming solvers, such as Ipopt and Snopt to solve problems like this:
It combines the advantages of Eigen and Ipopt:
- Solver independent formulation of variables and constraints with Eigen (highly efficient)
- Automatic index management by formulation of variable- and constraint-sets
- Integration: pure cmake
find_package(ifopt)or catkin / ROS - light-weight (~2k lines of code) makes it easy to use and extend
For more information, visit https://github.com/ethz-adrl/ifopt.
Best!
Alex @ www.awinkler.me