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

ROS ROS General
1

Dear ROS community,

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

ifopt - ROS Wiki is a modern, light-weight, Eigen-based C++ interface to Nonlinear Programming solvers, such as Ipopt and Snopt to solve problems like this:

68747470733a2f2f692e696d6775722e636f6d2f594769344c72522e706e67
68747470733a2f2f692e696d6775722e636f6d2f594769344c72522e706e67832×385 8.29 KB

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 GitHub - ethz-adrl/ifopt: An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt).

Best!
Alex @ www.awinkler.me

1 Like