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Library for High-Performance implementation of solvers for MPC.
License: GNU Lesser General Public License v2.1
This project forked from giaf/hpmpc
Library for High-Performance implementation of solvers for MPC.
License: GNU Lesser General Public License v2.1
HPMPC -- Library for High-Performance implementation of solvers for Model Predictive Control (MPC). The library contains an interior-point (IP) solver for the linear MPC problem with box constraints, and a solver for the the linear-quadratic control problem (LQCP), that is a used as a routine in the IP method. The library is self-contained and also contains the code for the linear-algebra routines. The code is highly-optimized for a number of common architectures, plus a reference version in plain C code. The architecture can be set in the Makefile.rule file. The code is intended to be used in a Linux machine and using gcc as compiler. Some optimized routine may not work with other compilers. The folder 'test_problems' contains some test problem for the linear-algebra, for the LQCP solver and for the linear MPC solver. The test problem can be chosen by editing the file /test_problems/Makefile The code comes in two version: generic and code-generation. The the generic version is a proper library, that can solver problems of any size. It is generated typing in a terminal the command $ make that also runs the test problem. The code-generation version can solver problem on only one size, to be specified in the file problem_size.h . It is generated typing in a terminal the command $ make codegen that also runs the test problem. Questions and comments can be send to the author Gianluca Frison, at the email address giaf (at) dtu.dk
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