/ddp_contact

Primary LanguageC++

DDP-ADMM with contact dynamics (standalone)

Standalone version of DDP required orocos-kdl to be installed on the system. https://github.com/orocos/orocos_kinematics_dynamics.git

By default eigen in this repo is used. No need to be installed.

Install (standalone)

  • Make a build folder mkdir build && cd build
  • cmake ..
  • make
  • Run ./ddp_contact