libmpc

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Are there any plans to support other NLP solvers?

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@nicolapiccinelli I am trying to implement motion planning where the mobile manipulator avoids obstacles based on nmpc. In general, if there are no obstacles, planning speed is good(approximately 0.03 sec)....

sm3304love

Should a negative cost ever occur?

1

I'm running into a surprising case where the cost is sometimes evaluated to be negative if the optimization algorithm fails to converge to a solution. Is this expected? ``` [MPC++]...

pwintz

The function named `setExogenuosInputs` should be spelled `setExogenousInputs`

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pwintz

Misspelled function name in documentation: `setContinuosTimeModel` should be `setContinuousTimeModel`

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https://altairlab.gitlab.io/optcontrol/libmpc/api/api.html#_CPPv4N3mpc5NLMPC21setContinuosTimeModelEKd

pwintz

Versions 0.6 and 0.6.1 have a serious bug in the computation of Jacobian of the user-defined inequality constraints for the non-linear MPC. **If you use such versions for your project,...

nicolapiccinelli