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Introduction

  • This repository will contain examples of optimization like Non-linear constrained optimization, Linear Programming, Quadratic Programming etc.
  • These optimization algorithms are constructed in C++ using IPOPT as a solver.
  • CasADi is used as an interface for solving complex optimization problems in C++ using IPOPT solver

Current

  • The current work in reposiroty contains 4 examples:
    1. Non-linear contrained Optimization - nlp.cpp
    2. Quadratic Programming - qp.cpp
    3. FMINCON equivalent in CasADi(IPOPT) - nlp_fmincon.cpp
    4. C++ equivalent code of 'Rule based Optimization for AVs' Projects's (link) - rule_based.cpp (This is a iterative non-linear constrained optimization problem)

In Progress

  • The further work in repository will focus on solving Optimal Control Problems (OCP) for trajectory optimization of autonomous robots/vehciles