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Roadmap

ocp_nlp

  • Gauss-Newton SQP
  • exact Hessian SQP
  • partial tightening
  • HPNMPC
  • blockSQP

ocp_qp

  • qpOASES v1.0
  • qpOASES v2.0 (no dynamic memory allocation, same structure as rest of QP solvers)
  • block condensing (should maybe get its own category)
  • OOQP
  • qpDUNES
  • HPMPC
  • FORCES
  • OSQP

sim

  • explicit Runge-Kutta
  • lifted IRK
  • collocation integrators GL
  • collocation integrators Radau
  • discrete-time systems
  • second order sensitivities

general

  • allow for models with varying state and control dimensions
  • unit tests in Python (unit_test or nosetests) or MATLAB (built-in framework)
  • 'code generation' of driver files such that users don't have to code them manually
  • short Python doctests to exemplify usage of interface functions
  • installation via conda and/or pip
  • RTI implementation similar to ACADO
  • Provide Simulink blocks as an interface (self-written or Legacy Code Tool)
  • HPMPC and HPIPM for MSVC / dSpace
  • Proper installation instructions/Troubleshooting on the Wiki/Readme
  • Installation instructions for MacOS
  • Provide separate documentation page
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