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acados

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Fast and embedded solvers for nonlinear optimal control. acados is written in C and offers interfaces to the programming languages Python, MATLAB and Octave.

General

  • acados implements
    1. fast SQP-type solvers for Nonlinear Programming (NLP) formulations with an Optimal Control Problem (OCP) structure
    2. efficient integration methods, also called integrators, to solve initial value problems with dynamic systems given as an ODE or index-1 DAE. These integrators can efficiently compute first and second-order sensitivities of the results.

Documentation

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acados's Projects

acados icon acados

Fast and embedded solvers for nonlinear optimal control

blasfeo icon blasfeo

Basic linear algebra subroutines for embedded optimization

casadi icon casadi

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

clarabel.cpp icon clarabel.cpp

Clarabel.cpp: C/C++ interface to the Clarabel Interior-point solver for convex conic optimisation problems.

qpoases icon qpoases

Unofficial fork of qpOASES (C version) with acados changes

test_data icon test_data

To keep the acados repository free from to many data files, we track test data that should be reproduced by travis in this repository.

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