Input-Constrained iLQR

A simple, header-only C++ library for solving nonlinear trajectory optimization problems using an iLQR method combined with a box-constrained optimization solver.

Get via CMake

Simply add the following to your CMakeLists.txt file.

include(FetchContent)
FetchContent_Declare(
  eigen3
  GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
  GIT_TAG 3.4.0
  GIT_SHALLOW TRUE
  GIT_PROGRESS TRUE
)
FetchContent_Declare(
    projected-descent
    GIT_REPOSITORY https://github.com/JuDO-dev/projected-descent.git
    GIT_TAG main
    GIT_SHALLOW TRUE
    GIT_PROGRESS TRUE
)
FetchContent_Declare(
    constrained-ilqr
    GIT_REPOSITORY https://github.com/JuDO-dev/constrained-ilqr.git
    GIT_TAG main
    GIT_SHALLOW TRUE
    GIT_PROGRESS TRUE
)
FetchContent_MakeAvailable(eigen3 constrained-ilqr)
target_link_libraries(YOUR_TARGET
  Eigen3::Eigen
  constrained_ilqr
)

Examples

Find the following usage examples within the tests directory.

tests/test_integrator.cpp
tests/test_two_link_arm.cpp

References

1. Tassa Y, Mansard N, Todorov E, Control-limited differential dynamic programming 2014