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hpipm-cpp

(★ 106)

C++ interface for hpipm, a high-performance interior point MPC solver

파일 탐색기

최종 버전 다운로드 (.zip)

- - ci.yaml
- .gitignore
- Doxyfile
- CMakeLists.txt
- example_mpc.cpp
- example_ocp_qp.cpp
- - .gitignore
  - hpipm-cpp.hpp
  - ocp_qp.hpp
  - ocp_qp_dim.hpp
  - ocp_qp_ipm_solver.hpp
  - ocp_qp_ipm_solver_settings.hpp
  - ocp_qp_ipm_solver_statistics.hpp
  - ocp_qp_solution.hpp
- - d_ocp_qp_dim_wrapper.cpp
  - d_ocp_qp_ipm_arg_wrapper.cpp
  - d_ocp_qp_ipm_ws_wrapper.cpp
  - d_ocp_qp_sol_wrapper.cpp
  - d_ocp_qp_wrapper.cpp
- ocp_qp_dim.cpp
- ocp_qp_ipm_solver.cpp
- ocp_qp_ipm_solver_settings.cpp
- ocp_qp_ipm_solver_statistics.cpp
- CMakeLists.txt
- d_ocp_qp_dim_wrapper.cpp
- d_ocp_qp_ipm_arg_wrapper.cpp
- d_ocp_qp_ipm_ws_wrapper.cpp
- d_ocp_qp_sol_wrapper.cpp
- d_ocp_qp_wrapper.cpp
- gtest.cmake
- ocp_qp_ipm_solver.cpp
- osqp_gen.py
- sol0.txt
- sol1.txt
- sol10.txt
- sol11.txt
- sol12.txt
- sol13.txt
- sol14.txt
- sol2.txt
- sol3.txt
- sol4.txt
- sol5.txt
- sol6.txt
- sol7.txt
- sol8.txt
- sol9.txt
.gitignore
CMakeLists.txt
LICENSE
README.md

# 설치 가이드

1. 코드 내려받기

git clone https://github.com/mayataka/hpipm-cpp

깃허브에서 프로젝트 코드 전체를 내 컴퓨터로 내려받습니다.

cd hpipm-cpp

방금 내려받은 프로젝트 폴더 안으로 이동합니다.

2. 공식 설치 스크립트

쉬움 추천

사전 준비물

APT (Debian/Ubuntu 계열) Debian/Ubuntu 계열 리눅스에 기본 내장된 패키지 매니저입니다.

sudo apt install libeigen3-dev

APT 패키지 저장소에서 바로 설치합니다 (Debian/Ubuntu 계열).

✅ 설치 후 새 터미널을 열고, 프로그램의 버전 확인 명령(예: --version)으로 정상 설치됐는지 확인하세요.

이 레포의 README에 적힌 실제 명령어를 그대로 가져왔습니다.

3. CMake

보통

사전 준비물

Git GitHub에서 프로젝트 코드를 내려받으려면 필요합니다.
CMake 빌드 설정을 생성하는 도구입니다.
C/C++ 컴파일러 Windows는 Visual Studio(Community 무료), macOS는 Xcode Command Line Tools, Linux는 gcc/g++ 패키지가 필요합니다.

cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBLASFEO_EXAMPLES=OFF

소스코드를 분석해 빌드 설정 파일을 생성합니다 (build 폴더 안에서 실행해야 함).

cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF

소스코드를 분석해 빌드 설정 파일을 생성합니다 (build 폴더 안에서 실행해야 함).

cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBLASFEO_EXAMPLES=OFF -DCMAKE_INSTALL_PREFIX=YOUR_DESTINATION

소스코드를 분석해 빌드 설정 파일을 생성합니다 (build 폴더 안에서 실행해야 함).

cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF -DCMAKE_INSTALL_PREFIX=YOUR_DESTINATION

소스코드를 분석해 빌드 설정 파일을 생성합니다 (build 폴더 안에서 실행해야 함).

cmake .. -DCMAKE_BUILD_TYPE=Release

소스코드를 분석해 빌드 설정 파일을 생성합니다 (build 폴더 안에서 실행해야 함).

✅ build 폴더 안에 실행 파일이 생성됐는지 확인하고, 직접 실행해보세요 (예: ./build/앱이름).

이 레포의 README에 적힌 실제 명령어를 그대로 가져왔습니다.

// repository documentation

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# hpipm-cpp: A C++ wrapper for [hpipm](https://github.com/giaf/hpipm)
[![CI](https://github.com/mayataka/hpipm-cpp/actions/workflows/ci.yaml/badge.svg)](https://github.com/mayataka/hpipm-cpp/actions/workflows/ci.yaml)

A C++ wrapper for [hpipm](https://github.com/giaf/hpipm), a high-performance interior-point method (IPM) solver for structured quadratic programming (QP) arising in optimal control (OC) and model predictive control (MPC).
This wrapper provides an interface of hpipm using STL and Eigen and inspired by [control-toolbox](https://github.com/ethz-adrl/control-toolbox) and [ocs2](https://github.com/leggedrobotics/ocs2).

## Requirements
- [Eigen3](https://eigen.tuxfamily.org/index.php?title=Main_Page)

Eigen3 can be installed by the following command:
```
sudo apt install libeigen3-dev
```

- [blasfeo](https://github.com/giaf/blasfeo) and [hpipm](https://github.com/giaf/hpipm)

blasfeo and hpipm can be installed, e.g., via
```
git clone https://github.com/giaf/blasfeo
git clone https://github.com/giaf/hpipm
cd blasfeo && mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBLASFEO_EXAMPLES=OFF 
make -j8
sudo make install -j
cd ../../hpipm && mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF 
make -j8
sudo make install -j
```

Further, you need to set `LD_LIBRARY_PATH` as 
```
export LD_LIBRARY_PATH=/opt/blasfeo/lib:/opt/hpipm/lib:$LD_LIBRARY_PATH
```

`/opt` is the default install destination of `blasfeo` and `hpipm`. If you change it to `YOUR_DESTINATIon`, change the above scripts as
```
git clone https://github.com/giaf/blasfeo
git clone https://github.com/giaf/hpipm
cd blasfeo && mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBLASFEO_EXAMPLES=OFF -DCMAKE_INSTALL_PREFIX=YOUR_DESTINATION
make -j8
sudo make install -j
cd ../../hpipm && mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF -DCMAKE_INSTALL_PREFIX=YOUR_DESTINATION
make -j8
sudo make install -j
export LD_LIBRARY_PATH=YOUR_DESTINATION/blasfeo/lib:YOUR_DESTINATION/hpipm/lib:$LD_LIBRARY_PATH
```

## Build hpipm-cpp
```
git clone https://github.com/mayataka/hpipm-cpp
cd hpipm-cpp
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release 
make -j8
sudo make install -j
```

## Usage
Link hpipm-cpp in the `CMakeLists.txt` as
```
...
find_package(hpipm-cpp REQUIRED)
target_link_libraries(
  YOUR_TARGET
  PRIVATE
  hpipm-cpp::hpipm-cpp
)
...
```
and write the source files as 
```
#include "hpipm-cpp/hpipm-cpp.hpp"

unsingned int N = ...; // horion length
...

std::vector<hpipm::OcpQp> qp(N+1); 
qp[i].A = Eigen::MatrixXd::... // set QP datas by Eigen 
...

hpipm::OcpQpIpmSolverSettings solver_settings; 
solver_settings.mode = ... // set the IPM solver settings
...

std::vector<hpipm::OcpQpSolution> solution(N+1);
hpipm::OcpQpSolver solver(qp, solver_settings);
Eigen::VectorXd x0 = ... // initial state
const auto status = solver.solve(x0, qp, solution); // solve the QP

for (int i=0; i<=dim.N; ++i) {
  std::cout << "x[" << i << "]: " << sol[i].x.transpose() << std::endl;  
}
for (int i=0; i<dim.N; ++i) {
  std::cout << "u[" << i << "]: " << sol[i].u.transpose() << std::endl;  
}
```

For detailed formulations, please see the [documentation of hpipm](https://github.com/giaf/hpipm/blob/master/doc/guide.pdf).
The conventions follow the documentation.