Simple-Robotics/aligator

A versatile and efficient C++ library for real-time constrained trajectory optimization

What it solves

Aligator is designed to handle complex trajectory optimization problems in robotics. It provides the mathematical tools necessary for motion generation, planning, optimal estimation, and the deployment of model-predictive control (MPC) on complex robotic systems.

How it works

The library is implemented in C++ with a Python API for prototyping. It uses a node-per-node modelling interface to define optimal control problems. To solve these problems, it implements efficient algorithms such as ProxDDP (Proximal Differential Dynamic Programming) and FeasibleDDP (Feasible Differential Dynamic Programming), along with various routines for the factorization of linear problems.

Who it’s for

Robotics researchers and engineers who need to generate optimal trajectories or implement real-time control systems for complex robots.

Highlights

  • Versatile Solvers: Includes specialized algorithms like ProxDDP and FeasibleDDP for constrained trajectory optimization.
  • Broad Integration: Supports the Pinocchio rigid-body dynamics library and provides an interface to the Crocoddyl trajectory optimization library.
  • Dual-Language Support: Offers a high-performance C++ core with a Python API for rapid prototyping.
  • Conda Support: Easy installation via conda-forge for streamlined environment management.

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