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Release of ifopt v2.0 - Interface to NLP solvers (Ipopt, Snopt)

Dear ROS community,

We’re happy to announce the release of version 2.0 of 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

Alex @

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