A modern Drake implementation of the DIRCON constrained trajectory optimization algorithm. Currently under construction.
Based off the publication
Michael Posa, Scott Kuindersma, Russ Tedrake. "Optimization and Stabilization of Trajectories for Constrained Dynamical Systems." Proceedings of the International Conference on Robotics and Automation (ICRA), 2016.
Available online at https://dair.seas.upenn.edu/assets/pdf/Posa2016a.pdf
Two approaches to building the project are recommended. See http://drake.mit.edu/ for instructions on building Drake.
git clone https://github.com/RobotLocomotion/drake.git
git clone https://github.com/DAIRLab/DIRCON.git
cd DIRCON
bazel build ...
git clone https://github.com/DAIRLab/DIRCON.git
mkdir build && cd build
cmake -Ddrake_DIR=/opt/drake/lib/cmake/drake ../
make