ami-iit / liecasadi
Rigid transform using Lie groups and Dual Quaternions, written in CasADi!
☆59Updated 3 months ago
Related projects: ⓘ
- Header-only C++ library containing controllers designed for Lie Groups.☆61Updated last year
- Clarabel.cpp: C/C++ interface to the Clarabel Interior-point solver for convex conic optimisation problems.☆33Updated 3 months ago
- A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.☆57Updated this week
- ☆21Updated 2 months ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆39Updated last week
- Transforms your CasADi functions into batchable JAX-compatible functions. By combining the power of CasADi with the flexibility of JAX, J…☆18Updated last week
- Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)☆42Updated this week
- ☆23Updated this week
- Low-Complexity Inverse Kinematics☆49Updated last month
- Light-weight C++ library for fast embedded nonlinear optimisation and optimal control☆44Updated 10 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆23Updated last month
- Differentiable QP solver in JAX☆59Updated this week
- ☆17Updated last year
- ☆59Updated last year
- an intuitive optimization tool tailored to robotics, based on CasADi☆71Updated last week
- ☆39Updated this week
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆44Updated this week
- A Fast Solver for Constrained Trajectory Optimization☆67Updated last year
- Julia implementation of Geometric Fabrics☆21Updated last year
- Differentiable collision detection for capsules in JAX.☆32Updated 9 months ago
- Simplifying optimal control with metaprogramming☆91Updated 2 months ago
- QP Benchmarks for the ProxQP Solver against OSQP, GUROBI, MOSEK, quadprog and qpOASES☆20Updated last year
- ☆19Updated this week
- ☆28Updated last year
- A curated list of solvers/software/frameworksrelevant for dynamic optimiation☆26Updated last week
- Model predictive control in Python based on quadratic programming☆31Updated 3 weeks ago
- ☆151Updated 2 weeks ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆86Updated 4 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆35Updated 7 months ago
- Import your robot in blender and animate it!☆25Updated last month