A large scale non-linear optimization library
CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
A next-gen Lagrange-Newton (SQP + barrier) solver for nonconvex constrained optimization
HPC solver for nonlinear optimization problems
A set of lightweight header-only template functions implementing commonly-used optimization methods on Riemannian manifolds and convex spaces.
Optimization models using various solvers
[Experimental] A SQP solver implemented with Eigen.
Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control
C++/python codes for contact-rich trajectory optimization.
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