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hpipm-cpp: A C++ wrapper for hpipm
A C++ wrapper for hpipm, a high-performance interior-point method (IPM) solver for structured quadratic programming (QP) arising in optimal control (OC) and model predictive control (MPC). This wrapper provides an interface of hpipm using STL and Eigen and inspired by control-toolbox and ocs2.
Eigen3 can be installed by the following command:
sudo apt install libeigen3-dev
blasfeo and hpipm can be installed, e.g., via
git clone https://github.com/giaf/blasfeo git clone https://github.com/giaf/hpipm cd blasfeo && mkdir build && cd build cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBLASFEO_EXAMPLES=OFF make -j8 sudo make install -j cd ../../hpipm && mkdir build && cd build cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF make -j8 sudo make install -j
Further, you need to set LD_LIBRARY_PATH as
export LD_LIBRARY_PATH=/opt/blasfeo/lib:/opt/hpipm/lib:$LD_LIBRARY_PATH
/opt is the default install destination of blasfeo and hpipm. If you change it to YOUR_DESTINATIon, change the above scripts as
git clone https://github.com/giaf/blasfeo git clone https://github.com/giaf/hpipm cd blasfeo && mkdir build && cd build cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBLASFEO_EXAMPLES=OFF -DCMAKE_INSTALL_PREFIX=YOUR_DESTINATION make -j8 sudo make install -j cd ../../hpipm && mkdir build && cd build cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF -DCMAKE_INSTALL_PREFIX=YOUR_DESTINATION make -j8 sudo make install -j export LD_LIBRARY_PATH=YOUR_DESTINATION/blasfeo/lib:YOUR_DESTINATION/hpipm/lib:$LD_LIBRARY_PATH
git clone https://github.com/mayataka/hpipm-cpp cd hpipm-cpp mkdir build && cd build cmake .. -DCMAKE_BUILD_TYPE=Release make -j8 sudo make install -j
Link hpipm-cpp in the CMakeLists.txt as
... find_package(hpipm-cpp REQUIRED) target_link_libraries( YOUR_TARGET PRIVATE hpipm-cpp::hpipm-cpp ) ...
and write the source files as
#include "hpipm-cpp/hpipm-cpp.hpp"
unsingned int N = ...; // horion length
...
std::vector<hpipm::OcpQp> qp(N+1);
qp[i].A = Eigen::MatrixXd::... // set QP datas by Eigen
...
hpipm::OcpQpIpmSolverSettings solver_settings;
solver_settings.mode = ... // set the IPM solver settings
...
std::vector<hpipm::OcpQpSolution> solution(N+1);
hpipm::OcpQpSolver solver(qp, solver_settings);
Eigen::VectorXd x0 = ... // initial state
const auto status = solver.solve(x0, qp, solution); // solve the QP
for (int i=0; i<=dim.N; ++i) {
std::cout << "x[" << i << "]: " << sol[i].x.transpose() << std::endl;
}
for (int i=0; i<dim.N; ++i) {
std::cout << "u[" << i << "]: " << sol[i].u.transpose() << std::endl;
}
For detailed formulations, please see the documentation of hpipm. The conventions follow the documentation.