OOQP-Eigen Interface

Overview

This C++ software provides a simple interface to use OOQP with the Eigen linear algebra library.

The Object Oriented Quadratic Programming solver package (OOQP) is written by Mike Gertz and Steve Wright from the University of Chicago (copyright notice). This software is an independent interface to the OOQP library and is not affiliated with OOQP in any way.

Authors: Péter Fankhauser, Christian Gehring, Stelian Coros
Contact: Péter Fankhauser, pfankhauser@ethz.ch
Affiliation: Autonomous Systems Lab, ETH Zurich

Links

• OOQP User Guide
• OOQP Paper
• The MA27 documentation is under ma27-1.0.0.tar.gz -> /doc/ma27_Fortran.pdf

Installation

Dependencies

• OOQP: Object-oriented software for quadratic programming,
• Eigen: Linear algebra library.

Building

This version uses Catkin as build system. There is a CMake version in the cmake branch.

To build, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_ws/src
git clone https://github.com/ethz-asl/ooqp_eigen_interface.git
cd ../
catkin_make

Usage

TODO: Add an example project.

Unit Tests

Run the unit tests with

catkin_make run_tests_ooqp_eigen_interface

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.