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hpipm-cpp

(★ 106)

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

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Download Latest Version (.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

# Installation Guide

1. Get the code

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

Downloads the entire project code from GitHub to your computer.

cd hpipm-cpp

Moves into the project folder you just downloaded.

2. Official Install Script

Easy Recommended

Prerequisites

APT (Debian/Ubuntu 계열) Built into Debian/Ubuntu-based Linux distributions.

sudo apt install libeigen3-dev

Installs directly from the APT package repository (Debian/Ubuntu-based).

✅ After installing, open a new terminal and run the program's version command (e.g. --version) to confirm it worked.

Pulled directly from this repo's README.

3. CMake

Medium

Prerequisites

Git Needed to download the project code from GitHub.
CMake The tool used to generate build configuration.
C/C++ 컴파일러 Windows needs Visual Studio (Community edition, free), macOS needs Xcode Command Line Tools, Linux needs the gcc/g++ package.

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

Analyzes the source code and generates build configuration files (must be run inside the build folder).

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

Analyzes the source code and generates build configuration files (must be run inside the build folder).

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

Analyzes the source code and generates build configuration files (must be run inside the build folder).

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

Analyzes the source code and generates build configuration files (must be run inside the build folder).

cmake .. -DCMAKE_BUILD_TYPE=Release

Analyzes the source code and generates build configuration files (must be run inside the build folder).

✅ Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).

Pulled directly from this repo's README.

// 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.