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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
144 stars 19 forks source link

Integrate with SuiteSparse solvers #148

Closed ManifoldFR closed 6 months ago

ManifoldFR commented 6 months ago

Since https://github.com/conda-forge/suitesparse-feedstock, the latest version (v7.7+) of SuiteSparse is available. We may want to add something like CHOLMOD LDLT as a possible backend for the solvers here, using the Eigen integration.

jcarpent commented 6 months ago

Seems to be the way to go for very sparse systems indeed ;)

ManifoldFR commented 6 months ago

This will be addressed when aligator-next is merged.