Description

Intro

This is a partial distribution focusing on optimal control functionality. Several example systems are included such as a simple car model, aerial vehicles including quadrotor and helicopter, and fixed-based and free-flying multi-body systems.

In addition, a parameter-dependent discrete optimal control method is included for solving sys id / adaptive control / parameter estimation problems. It is applied to a SLAM/bundle adjustment problem.

Installation

requirements

g++, cmake, libeigen, opengl, glut, libgsl0

Download

To obtain the source code, please email: marin(at)jhu.edu

Compilation

• To compile >: -- tar xfz gcop.tar.gz; cd gcop -- mkdir build; cd build; cmake ..; make
• To test an optimal control example>: cd bin; ./qrotortest, ./cartest, etc...
• To test a bundle adjustment example>: cd bin; ./batest

Reference

see docs/html

Usage

Example

see directory bin

Author

Copyright (C) 2004-2014 Marin Kobilarov <marin(at)jhu.edu>

Keywords

discrete optimal control, discrete mechanics, motion planning, nonlinear control