Interest in updating C++ implementation to leverage IFOPT

hungpham2511 / toppra

robotic motion planning library

https://hungpham2511.github.io/toppra/index.html

MIT License

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Interest in updating C++ implementation to leverage IFOPT #142

Closed Levi-Armstrong closed 4 years ago

Levi-Armstrong commented 4 years ago

Hello we recently went through and updated TrajOpt to leverage IFOPT which opened up access to additional solvers and wanted to see if the maintainers have looked at this and if there would be any interest in updating Toppra to leverage this for the C++? It currently supports SNOPT and IPOPT but the TrajOpt includes Gurobi, OSQP and qpOASES which we are looking into pushing to IFOPT.

hungpham2511 commented 4 years ago

Hi there, that's good to hear.

toppra currently uses only linear and quadratic solvers internally so I don't think it can leverage much this development.