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MPC interface

This package provides a structure to formulate QP based MPC problems with any linear dynamics, cost functions and constraint. All required QP matrices are generated automatically with the structure considered in qpsolvers.

This repository is mainly based on python, the c++ part is a work in progress which does not work yet.

Dependancies

mpc_interface depends on the following python packages

numpy sympy matplotlib scipy

that can be installed as follows:

pip3 install numpy sympy matplotlib scipy

The examples require additionally:

qpsolvers osqp

pip3 install qpsolvers osqp

Usage

A better explanation is comming soon. For now, an embryonary explanation of the repository classes is provided in biped_formulation.py

Tests

Run all the tests with:

python3 -m unittest discover python/tests

Check the examples

Available examples are in the folder python/use_examples

Run the starting example with

ipython python/use_examples/simple_functional_example/biped_mpc_loop.py