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Simple-Robotics
/
aligator
A versatile and efficient framework for constrained trajectory optimization
https://simple-robotics.github.io/aligator/
BSD 2-Clause "Simplified" License
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Update pixi lockfile
#245
update-pixi-lockfile[bot]
closed
1 week ago
2
Switch to nonmonotone linesearch
#244
ManifoldFR
opened
3 weeks ago
1
Use single memory block for LQRKnot
#243
ManifoldFR
opened
3 weeks ago
1
Fixes to ProxDDP
#242
ManifoldFR
closed
3 weeks ago
1
Build without Pinocchio fail
#241
jorisv
opened
4 weeks ago
0
Add pixi support
#240
jorisv
closed
4 weeks ago
0
Add pixi support
#239
jorisv
closed
4 weeks ago
0
Change linear friction cone to ice cream cone
#238
edantec
closed
3 weeks ago
0
Gravity compensation cost uses wrong dimension when computing gradient
#237
edantec
closed
1 month ago
2
topic/gar/devel
#236
ManifoldFR
closed
3 weeks ago
1
Add gravity compensation residual
#235
ManifoldFR
closed
1 month ago
0
Add a multibody friction cone cost, rename `FrictionConeResidual` to `CentroidalFrictionConeResidual`
#234
edantec
closed
1 month ago
1
Change from deprecated `ConstraintSetBase<T>` to `ConstraintSetTpl<T>`
#233
ManifoldFR
closed
1 month ago
0
Fix support for fmt version 10
#231
ManifoldFR
closed
1 month ago
1
Change formatting of exceptions, using variadic macro and type-erased implementation
#230
ManifoldFR
closed
1 month ago
0
Make `DynamicsModelTpl` separate from `StageFunctionTpl` class hierarchy
#229
ManifoldFR
closed
1 month ago
0
Change formatting of exceptions: variadic macros dispatch to type-erased
#228
ManifoldFR
closed
1 month ago
1
Switch from cmake-format to gersemi for CMake formatting
#227
ManifoldFR
closed
1 month ago
0
Deprecate struct `StageConstraint`, add option to set dual tolerance on `SolverProxDDP`, re-implement `TrajOptProblemTpl::checkIntegrity()`
#226
ManifoldFR
closed
1 month ago
0
Finally get rid of `shared_ptr`
#225
ManifoldFR
opened
1 month ago
0
Deprecate and remove template struct `StageConstraintTpl`
#224
ManifoldFR
closed
1 month ago
1
Scale the dynamics' AL parameter instead of the constraints, remove deprecated functions, rename `TrajOptProblemTpl::init_condition_` to `init_constraint_`
#223
ManifoldFR
closed
1 month ago
2
core/constraint.hpp : add cast-getter
#222
ManifoldFR
closed
1 month ago
0
SolverProxDDP: remove solver parameter `rho_`
#221
ManifoldFR
closed
1 month ago
1
Create a getComponent function for constraintStack
#220
edantec
closed
1 month ago
0
Re-define ALM params struct internally to `aligator`
#219
ManifoldFR
closed
1 month ago
0
Reformulation of the parallel Riccati kernel
#218
edantec
opened
1 month ago
0
Cycle the Riccati solver
#217
edantec
closed
1 month ago
3
Force API updates
#216
edantec
closed
2 months ago
1
Fix the cycling of problem data in MPC
#215
edantec
closed
2 months ago
0
[solvers] Remove constraint prox scalers
#214
ManifoldFR
closed
2 months ago
0
Simplify the solver: Remove ALM scalers
#213
ManifoldFR
closed
2 months ago
0
[autodiff] separate out CostFiniteDifferenceHelper
#212
ManifoldFR
closed
2 months ago
0
Cycling the Results structure for MPC application
#211
edantec
closed
2 months ago
2
[ci] Cancel PR workflow on new push
#210
ManifoldFR
closed
2 months ago
0
Cannot set reference for residual function in Python
#209
edantec
closed
2 months ago
5
A computation graph for OCPs.
#208
ManifoldFR
opened
2 months ago
0
[python] Check if aligator's Python bindings have Pinocchio features programmatically
#207
ManifoldFR
closed
2 months ago
0
[tests/python] Restore Pinocchio 3 tests, add check for Pinocchio features from Python
#206
ManifoldFR
closed
2 months ago
1
[core | modelling] Add templated getters for cost and dynamics
#205
ManifoldFR
closed
2 months ago
0
Implementing dynamic cast for CostStack, Integrator and Dynamics
#204
edantec
closed
2 months ago
1
Change all map types to boost::unordered_map
#203
ManifoldFR
closed
2 months ago
0
Homogenise map types
#202
ManifoldFR
closed
2 months ago
0
Fixing include of LU from Eigen
#200
quentinll
closed
2 months ago
2
[modelling] Change CostStack backend to an unordered_map type
#199
ManifoldFR
closed
2 months ago
2
[modelling/costs] Add getResidual() templated getter for composite cost functions
#198
ManifoldFR
closed
2 months ago
0
[workflows] Build examples in CI
#197
ManifoldFR
closed
2 months ago
0
Dimension mismatch for gradient multipliers in terminal knot
#196
edantec
closed
2 months ago
0
Replace vector of CostPtr in CostStack objects by a map of CostPtr
#195
edantec
closed
2 months ago
2
Integrate dynamic cast in aligator
#194
edantec
closed
2 months ago
1
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