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markusgft authored Dec 24, 2019
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# Control Toolbox
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![GitHub](https://img.shields.io/github/license/ethz-adrl/control-toolbox.svg?style=social)

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- intuitive modelling of cost functions and constraints
- common interfaces for optimal control solvers and nonlinear model predictive control
- currently supported algorithms:
- Single Shooting
- iLQR
- Gauss-Newton-Multiple-Shooting (GNMS)
- Classical Direct Multiple Shooting (DMS)
- standardized interfaces for the solvers
- IPOPT (first and second order)
- Classical Single Shooting
- iLQR / iLQG (iterative Linear Quadratic Optimal Control)
- Multiple-shooting iLQR
- Gauss-Newton-Multiple-Shooting (GNMS)
- Classical Direct Multiple Shooting (DMS)
- standardized interfaces for the solvers
- IPOPT (first and second order)
- SNOPT
- HPIPM
- custom Riccati-solver
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- solve large scale optimal control problems in MPC fashion.

- **Robot Modelling, Rigid Body Kinematics and Dynamics**:
- straight-forward interface to a state-of the art rigid body dynamics modelling tool.
- implementation of a basic nonlinear-programming-based inverse kinematics solver.
- straight-forward interface to the state-of the art rigid body dynamics modelling tool RobCoGen.
- implementation of a basic nonlinear-programming inverse kinematics solver for fix-base robots.

- **Automatic Differentiation**:
- first- and second order automatic differentiation of arbitrary vector-valued functions including cost functions and constraints
- automatic differentiation of rigid body dynamics
- automatic differentiation and code generation of rigid body dynamics
- derivative code generation for maximum efficiency

- **Simplicity**:
- all algorithm flavors and solver backends are available through simple configuration files.



## Robot Application Examples
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## Acknowledgements

### Contributors
- Markus Giftthaler
- Markus Giftthaler, markusgft (at) gmail (dot) com
- Michael Neunert
- Markus Stäuble
- Farbod Farshidian
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- Ruben Grandia
- Hamza Merzic

### Project Lead and Maintenance
### Maintenance
- Markus Giftthaler, markusgft (at) gmail (dot) com
- Michael Neunert, neunertm (at) gmail (dot) com


### Funding
This software has been developed at the <a href="http://www.adrl.ethz.ch" target="_blank">Agile & Dexterous Robotics Lab</a>
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