qp_solver_collection
|
Unified C++ interface for quadratic programming solvers
It is assumed that ROS is installed.
See this section for <qp-solver-flags>
.
As all supported QP solvers are installed in CI, please refer to the installation procedure.
Please refer to the license specified in each QP solver when using it.
Install eigen-qld.
Add -DENABLE_QLD=ON
to the catkin build command (i.e., <qp-solver-flags>
).
Install eigen-quadprog.
Add -DENABLE_QUADPROG=ON
to the catkin build command (i.e., <qp-solver-flags>
).
Install master branch of jrl-qp. Add -DENABLE_JRLQP=ON
to the catkin build command (i.e., <qp-solver-flags>
).
Install master branch of qpOASES with -DBUILD_SHARED_LIBS=ON
cmake option.
Add -DENABLE_QPOASES=ON
to the catkin build command (i.e., <qp-solver-flags>
). Also, add -DQPOASES_INCLUDE_DIR=<path to qpOASES.hpp>
and -DQPOASES_LIBRARY_DIR=<path to libqpOASES.so>
to the catkin build command.
Install master branch of osqp and osqp-eigen.
Add -DENABLE_OSQP=ON
to the catkin build command (i.e., <qp-solver-flags>
).
Install cmake-install branch of nasoq.
Add -DENABLE_NASOQ=ON
to the catkin build command (i.e., <qp-solver-flags>
).
Install master branch of blasfeo and hpipm.
Add /opt/blasfeo/lib
and /opt/hpipm/lib
to the environment variable LD_LIBRARY_PATH
.
Add -DENABLE_HPIPM=ON
to the catkin build command (i.e., <qp-solver-flags>
).
Install main branch of proxsuite.
Add -DENABLE_PROXQP=ON
to the catkin build command (i.e., <qp-solver-flags>
).
Install master branch of qpmad.
Add -DENABLE_QPMAD=ON
to the catkin build command (i.e., <qp-solver-flags>
).
Install eigen-lssol.
Add -DENABLE_LSSOL=ON
to the catkin build command (i.e., <qp-solver-flags>
).
See documentation and test for examples of solving QP problems.
The following is a simple sample.
In addition to building a sample in a catkin package, you can also build it standalone as follows. ``bash $ g++ sample.cpp
pkg-config –cflags qp_solver_collectionpkg-config –libs qp_solver_collection
``