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Copra

Copra (Control & preview algorithms) is a C++ library for convex model predictive control of linear time-invariant (LTI) and linear time-variant (LTV) systems.

Installation

Debian Package

Assuming you have configured the ANYbotics PPA, you can install this package by:

sudo apt install ros-${ROS_DISTRO}-copra

Building from Source

Dependencies

• CMake >= 3.5
• Eigen >= 3.2
• Robot Operating System (ROS)
• g++

Optional

• GUROBI >= 4.0: optional QP solver
• OSQP: optional QP solver
• eigen-gurobi: bindings for GUROBI
• eigen-osqp: optional QP solver

Building with Catkin

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using:

cd ~/catkin_ws/src
git clone git@github.com:ANYbotics/copra.git
catkin build copra

Unit Tests

Run unit tests by:

catkin run_tests copra

Documentation

Doxygen documentation is available online

You can also check out unit tests and the bipedal locomotion example.

Changelog

This package was forked from jrl-umi3218. The following changes were made:

• Extended to time-variant systems
• Catkin packaging for ROS
• Unit tests converted from doctest to Google Test
• Introduce SimpleTrajectoryCost and SimpleControlCost
• Introduce a method to reset all costs
• Added support for the qpOASES QP solver

The library was originally developed by Vincent Samy. It is licensed under the BSD-2-Clause. Its default quadratic programming solver (eigen-quadprog) is licensed under the LGPLv2.