libmpc++ is a C++ library to solve linear and non-linear MPC. The library is written in modern C++20 and it is tested to work on Linux, macOS and Windows.
- gcc version (>= 10.3.0)
The libmpc++ website can be found at the following link: https://altairlab.gitlab.io/optcontrol/libmpc/
The library depends on the following external libraries which must be installed on the machine before using libmpc++
- Eigen3 header-only linear algebra library (https://eigen.tuxfamily.org/index.php?title=Main_Page)
- NLopt set of solvers for nonlinear programming (https://nlopt.readthedocs.io/en/latest/)
- OSQP solver for convex quadratic programming (https://osqp.org)
If you are a developer, to setup the debug environment you also need to install:
boostfor stacktrace debug (https://www.boost.org)Catch2test suite (https://github.com/catchorg/Catch2)gcovr,lcovGCC code coverage
The latest version of libmpc++ is available from GitHub https://github.com/nicolapiccinelli/libmpc/releases and does not require any installation process other than the one required by its dependecies.