colleyli / libmpc

libmpc++ is a C++ header-only library to solve linear and non-linear MPC

libmpc++

libmpc++ is a C++ library to solve linear and non-linear MPC. The library is written in modern C++17 and it is tested to work on Linux, macOS and Windows.

The libmpc++ website can be found at the following link: https://altairlab.gitlab.io/optcontrol/libmpc/

Dependecies

The library depends on the following external libraries which must be installed on the machine before using libmpc++

• Eigen3 header-only linear algebra library (https://eigen.tuxfamily.org/index.php?title=Main_Page)
• NLopt set of solvers for nonlinear programming (https://nlopt.readthedocs.io/en/latest/)
• OSQP solver for convex quadratic programming (https://osqp.org)

If you are a developer, to setup the debug environment you also need to install:

• boost for stacktrace debug (https://www.boost.org)
• Catch2 test suite (https://github.com/catchorg/Catch2)
• gcovr, lcov GCC code coverage

Usage

The latest version of libmpc++ is available from GitHub https://github.com/nicolapiccinelli/libmpc/releases and does not require any installation process other than the one required by its dependecies.