hpipm-cpp: A C++ wrapper for hpipm
A C++ wrapper for 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.
Eigen3 can be installed by the following command:
sudo apt install libeigen3-dev
Other external libraries, i.e., blasfeo and hpipm are automatically installed with hpipm-cpp.
git clone https://github.com/mayataka/hpipm-cpp
cd hpipm-cpp
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
sudo make install -j
Link hpipm-cpp in the CMakeLists.txt as
...
find_package(hpipm-cpp REQUIRED)
target_include_directories(
YOUR_TARGET
PRIVATE
${hpipm-cpp_INCLUDE_DIR}
)
target_link_libraries(
YOUR_TARGET
PRIVATE
hpipm-cpp::hpipm-cpp
)
...
and write the source files as
#include "hpipm-cpp/hpipm-cpp.hpp"
hpipm::OcpQpDim dim;
dim.N = ... // set dims
dim.nx.push_back(...) // set dims
...
dim.createHpipmData(); // this creates hpipm's QP-dim object.
hpipm::OcpQp qp;
qp.A.push_back(Eigen::MatrixXd::...) // set QP datas by Eigen objects
...
qp.createHpipmData(dim); // this creates hpipm's QP-data object.
hpipm::OcpQpIpmSolverSettings ipm_arg;
ipm_arg.ipm_arg.mode = ... // set the IPM solver settings
...
ipm_arg.createHpipmData(dim); // this creates hpipm's the IPM solver-settings object.
hpipm::OcpQpSolution sol;
sol.createHpipmData(dim); // this creates hpipm's QP-solution object.
hpipm::OcpQpSolver solver;
solver.createHpipmData(dim, arg); // this creates hpipm's IPM-solver object.
const auto res = solver.solve(qp, sol, arg); // solve the QP
sol.getSolutionFromHpipm(dim); // retrieve the QP-solution as Eigen's object from hpipm's object.
for (int i=0; i<=dim.N; ++i) {
std::cout << "x[" << i << "]: " << sol.x[i].transpose() << std::endl;
}
for (int i=0; i<dim.N; ++i) {
std::cout << "u[" << i << "]: " << sol.u[i].transpose() << std::endl;
}
For detailed formulations, please see the documentation of hpipm. The data objects of hpipm::QcpQp follow the convention of that documentation.