ifopt

C++ interface to nonlinear programming solvers with light-weight design

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Light-weight C++ Interface to Nonlinear Programming Solvers

ifopt

Include ifopt in a CMake project to solve nonlinear optimization problems$ find_package(ifopt REQUIRED) and add_executable(solver solver.cpp)

Link against ifopt libraries in C++ code for trajectory optimization$ g++ -o optimizer main.cpp -lifopt_core -lifopt_ipopt

Use ifopt headers to define optimization variables and constraints

$ cat > solver.cpp << 'EOF'
#include <ifopt/variable_set.h>
class MyVariables : public ifopt::VariableSet { /* implementation */ };
EOF