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optimization-engine
Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support
https://alphaville.github.io/optimization-engine/
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Python refactoring: Function psi for ALM
#99
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alphaville
closed
4 years ago
alphaville
commented
4 years ago
Main changes:
Introduced test in Rust where the solver is called in a loop
CasADi generates functions
psi(u, xi, p)
and its gradient
Updated
C
interface with proper memory allocation mechanisms (no
malloc
)
Simplified Python method
__generate_casadi_code
(introduced more methods)
Main changes:
psi(u, xi, p)
and its gradientC
interface with proper memory allocation mechanisms (nomalloc
)__generate_casadi_code
(introduced more methods)