/proxsuite-nlp

A primal-dual augmented Lagrangian solver for nonlinear programming on manifolds.

Primary LanguageC++BSD 2-Clause "Simplified" LicenseBSD-2-Clause

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proxsuite-nlp: a package for nonlinear optimization on manifolds

proxsuite-nlp is a C++ library, implementing a primal-dual augmented Lagrangian-type algorithm for nonlinear optimization on manifolds, as well as some modelling tools.

Installation

From Conda

From our channel

conda install -c simple-robotics proxsuite-nlp

From source

Clone this repo using

git clone [url-to-repo] --recursive

Create a build tree using CMake, build and install:

cd your/checkout/folder/
cmake -S . -B build
cmake --build build/ --config Release --target install

Dependencies

Python dependencies:

  • numpy
  • matplotlib
  • typed-argument-parser
  • tqdm
  • meshcat-python

Notes

  • To build against a Conda environment, activate the environment and add export CMAKE_PREFIX_PATH=$CONDA_PREFIX before running CMake.

  • To build the documentation:

    cd build/
    make doc

Credits

The following people have been involved in the development of proxsuite-nlp and are warmly thanked for their contributions:

Acknowledgments

The development of proxsuite-nlp is actively supported by the Willow team @INRIA and the Gepetto team @LAAS-CNRS.