Feasible_IPDDP

Implementation of Interior Point Differential Dynamic Programming using SymEngine.

The original MATLAB version is available at ipddp.

Dependencies

• SymEngine: Fast symbolic manipulation library to achieve automatic differentiation.
• OpenMP: Parallelization is implemented to accelerate computation. (Optional) If not enabled, please comment out the relevant interfaces.

Build and Run

mkdir build && cd build
cmake ..
make -j4
./examples/ocp_inverted_pendulum 

Results