pympcxx 1.0.0

MPC++ bindings for Python

libmpc++

libmpc++ is a C++ library to solve linear and non-linear MPC. The library is written in modern C++20 and it is tested to work on Linux, macOS and Windows.

• gcc version (>= 10.3.0)

The libmpc++ website can be found at the following link: https://altairlab.gitlab.io/optcontrol/libmpc/

Starting from the version 0.5.0 the library is also available as a Python package (https://pypi.org/project/pympcxx/). The Python package is available on PyPI and can be installed using pip:

pip install pympcxx

Dependecies

The library depends on the following external libraries which must be installed on the machine before using libmpc++

• Eigen3 header-only linear algebra library (https://eigen.tuxfamily.org/index.php?title=Main_Page)
• NLopt set of solvers for nonlinear programming (https://nlopt.readthedocs.io/en/latest/)
• OSQP solver for convex quadratic programming (https://osqp.org) (version >= 1.0.0)

If you are a developer, to setup the debug environment you also need to install:

• boost for stacktrace debug (https://www.boost.org)
• Catch2 test suite (https://github.com/catchorg/Catch2)
• gcovr, lcov GCC code coverage

Example

There is also a collection of examples that guide you through the most important features of libmpc++ in the examples folder

• quadrotor_ex.cpp: example of a linear MPC for a quadrotor regulation problem
• ugv_ex.cpp: example of a non-linear MPC for a UGV tracking problem with obstacles
• vanderpol_ex.cpp: example of a non-linear MPC for a Van der Pol oscillator regulation problem
• networked_oscillator_ex.cpp: example of a non-linear MPC for a set of coupled Van der Pol oscillator regulation problem
• vic_6dof_ex.cpp: example of a non-linear MPC for a 6DOF variabile impedance controller for a robotic arm

The examples are written in C++ and can be compiled using CMake:

mkdir build
cd build
cmake ..
make

Usage

The latest version of libmpc++ is available from GitHub https://github.com/nicolapiccinelli/libmpc/releases and does not require any installation process other than the one required by its dependecies.

System wide usage on an Ubuntu Linux

If you're a developer run the configure.sh script with superuser privileges to install the external dependencies

sudo ./configure.sh

or configure.sh --disable-test if you do not need the test-suite

sudo ./configure.sh --disable-test

Then, after installing all the dependencies configure and compile the library using CMake. From the folder containing the CMakeLists.txt file compile the library by doing

mkdir build
cd build
cmake ..
make

Finally, install the library with superuser privileges

sudo make install

This will allow you to install the MPC++ library on your system. Using the include

#include <mpc/LMPC.hpp> 

in your package will be enough to add this library to your project.

CMakelists.txt example

This is an example of a CMakeLists.txt file to use libmpc++ in your project.

cmake_minimum_required(VERSION 3.0)
project(your_project_name)

# set the C++ standard to C++ 20
set(CMAKE_CXX_STANDARD 20)
# set the C++ compiler to use O3
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3")

find_package(mpc++ CONFIG REQUIRED)

# Declare a C++ library
include_directories(${mpc++_INCLUDE_DIRS})
add_executable(${PROJECT_NAME} main.cpp)
target_link_libraries(${PROJECT_NAME} mpc++)

Development Container

Docker is helpful for creating a stable localized development environment. Install Docker with the convenience script:

curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh

You can build the development image with the command below. Note that the image will be tagged with the name specified after the '-t' option.

docker build -t dev_image .