libmpc
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libmpc++ is a C++ header-only library to solve linear and non-linear MPC
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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)....
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++]...
https://altairlab.gitlab.io/optcontrol/libmpc/api/api.html#_CPPv4N3mpc5NLMPC21setContinuosTimeModelEKd