This package provides a structure to formulate QP based MPC problems with any linear dynamics, cost functions and constraint. All required QP matrices are generated automatically with the structure considered in qpsolvers.
This repository is mainly based on python, the c++ part is a work in progress which does not work yet.
mpc_interface depends on the following python packages
that can be installed as follows:
pip3 install numpy sympy matplotlib scipyThe examples require additionally:
pip3 install qpsolvers osqpA better explanation is comming soon.
For now, an embryonary explanation of the repository classes is provided in biped_formulation.py
Run all the tests with:
python3 -m unittest discover python/testsAvailable examples are in the folder python/use_examples
Run the starting example with
ipython python/use_examples/simple_functional_example/biped_mpc_loop.py