Update scripts for matplotplusplus (#89)

* Update scripts for matplotplusplus

* better case study results generated

Author: astomodynamics

CMakeLists.txt

@@ -38,49 +38,43 @@ option(CDDP_CPP_CASADI "Whether to use CasADi" OFF)
 option(CDDP_CPP_ACADO "Whether to use Acado" OFF)
 
 # Gurobi Configuration
+# If you want to install Gurobi, please follow the instructions at:
+# https://support.gurobi.com/hc/en-us/articles/4534161999889-How-do-I-install-Gurobi-Optimizer 
 option(CDDP_CPP_GUROBI "Whether to use Gurobi solver." OFF)
 option(GUROBI_ROOT "Path to Gurobi installation" "") 
-set(GUROBI_ROOT $ENV{HOME}/.local/lib/gurobi1103/linux64)
+set(GUROBI_ROOT /usr/local/lib/gurobi1201/linux64)  # FIXME: Change this to your local gurobi installation directory
 
 # LibTorch Configuration
+# If you want to install LibTorch, please follow the instructions at:
+# https://pytorch.org/
+# $ sudo cp -r libtorch /usr/local/lib/
 option(CDDP_CPP_TORCH "Whether to use LibTorch" OFF)
 option(CDDP_CPP_TORCH_GPU "Whether to use GPU support in LibTorch" OFF)
-set(LIBTORCH_DIR $ENV{HOME}/.local/lib/libtorch CACHE PATH "Path to local LibTorch installation") # FIXME: Change this to your local LibTorch installation directory
-
-# Python Configuration
-set(Python_EXECUTABLE /usr/bin/python3.10) # Or the path to your desired Python interpreter
-execute_process( # Find the NumPy include directory
-  COMMAND "${Python_EXECUTABLE}" -c "import numpy; print(numpy.get_include())"
-  OUTPUT_VARIABLE NUMPY_INCLUDE_DIR OUTPUT_STRIP_TRAILING_WHITESPACE 
-)
+set(LIBTORCH_DIR /usr/local/lib/libtorch CACHE PATH "Path to local LibTorch installation") # FIXME: Change this to your local LibTorch installation directory
 
 # Find packages
 find_package(Eigen3 REQUIRED) 
-find_package(Python3 3.10 EXACT COMPONENTS Interpreter Development NumPy REQUIRED)
 
 if (CDDP_CPP_CASADI)
   # Assuming that CasADi is installed in /usr/local/include/casadi by:
-  # sudo apt install gfortran liblapack-dev pkg-config --install-recommends
-  # sudo apt install swig
-  # cd
-  # git clone https://github.com/casadi/casadi.git -b main
-  # cd casadi
-  # mkdir build
-  # cd build
-  # cmake -DWITH_PYTHON=ON -DWITH_IPOPT=ON -DWITH_OPENMP=ON -DWITH_THREAD=ON ..
-  # make
-  # sudo make install
-  # echo "export LD_LIBRARY_PATH=/home/<path_to_casadi>/casadi/build/lib:$LD_LIBRARY_PATH" >> ~/.bashrc && source ~/.bashrc
+  # https://github.com/casadi/casadi/wiki/InstallationLinux 
+  # $ echo "export LD_LIBRARY_PATH=/home/<path_to_casadi>/casadi/build/lib:$LD_LIBRARY_PATH" >> ~/.bashrc && source ~/.bashrc
 
   find_package(casadi REQUIRED)
-  set(CASADI_INCLUDE_DIR /$ENV{HOME}/local/include/casadi)
+  set(CASADI_INCLUDE_DIR /usr/local/include/casadi)
   find_library(CASADI_LIBRARY NAMES casadi HINTS ${CASADI_INCLUDE_DIR}/../lib $ENV{CASADI_PREFIX}/lib)
   set(CASADI_LIBRARIES ${CASADI_LIBRARIES} ${CASADI_LIBRARY})
+  if (NOT CASADI_LIBRARIES)
+    message(FATAL_ERROR "CasADi library not found. Please set CASADI_PREFIX.")
+  else()
+    message(STATUS "Found CasADi: ${CASADI_LIBRARIES}")
+  endif()
 endif()
 
 if (CDDP_CPP_ACADO)
   # Assuming that Acado is installed by: https://acado.github.io/install_linux.html
-  set(ACADO_DIR $ENV{HOME}/github/ACADOtoolkit)
+  set(ACADO_DIR $ENV{HOME}/github/ACADOtoolkit) # FIXME: Change this to your local Acado installation directory
+  
   # Include ACADO header files
   include_directories(${ACADO_DIR})
   include_directories(${ACADO_DIR}/acado)
@@ -89,6 +83,16 @@ endif()
 # Enable FetchContent for downloading dependencies
 include(FetchContent)
 
+# Matplotplusplus
+FetchContent_Declare(matplotplusplus
+  GIT_REPOSITORY https://github.com/alandefreitas/matplotplusplus
+  GIT_TAG origin/master) # or whatever tag you want
+FetchContent_GetProperties(matplotplusplus)
+if(NOT matplotplusplus_POPULATED)
+    FetchContent_Populate(matplotplusplus)
+    add_subdirectory(${matplotplusplus_SOURCE_DIR} ${matplotplusplus_BINARY_DIR} EXCLUDE_FROM_ALL)
+endif()
+
 # Googletest
 if (CDDP_CPP_BUILD_TESTS)
   enable_testing()
@@ -203,8 +207,6 @@ FetchContent_GetProperties(osqp-cpp)
 # Include directories
 include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/include
-  ${Python3_INCLUDE_DIRS}
-  ${NUMPY_INCLUDE_DIR}
 ) 
 
 # Add your library
@@ -251,9 +253,7 @@ add_library(${PROJECT_NAME}
 
 target_link_libraries(${PROJECT_NAME} 
   Eigen3::Eigen 
-  Python3::Python
-  Python3::Module
-  Python3::NumPy
+  matplot
   osqp-cpp
 ) 
 
@@ -304,7 +304,8 @@ if (CDDP_CPP_GUROBI)
 
     include_directories(${GUROBI_INCLUDE_DIR})
     target_link_libraries(${PROJECT_NAME} ${GUROBI_LIBRARIES}  gurobi_c++ 
-    gurobi110) 
+    gurobi120) # FIXME: Change this to your local gurobi installation 
+    message(STATUS "Successfully linked Gurobi version 120.") 
   else()
     message(FATAL_ERROR "Could not find Gurobi. Please set GUROBI_ROOT.")
   endif()
@@ -321,6 +322,7 @@ add_subdirectory(examples)
 # Cmake compile commmand:
 # $ mkdir build
 # $ cd build
-# $ cmake  -DCDDP_CPP_GUROBI=ON -DCDDP_CPP_BUILD_TESTS=ON -DGUROBI_ROOT=/home/tom/.local/lib/gurobi1103/linux64 -DCDDP_CPP_TORCH=ON -DCDDP_CPP_TORCH_GPU=ON -DLIBTORCH_DIR=/home/tom/.local/lib/libtorch ..
+# $ cmake -DCDDP_CPP_BUILD_TESTS=ON -DCDDP_CPP_TORCH=ON -DCDDP_CPP_TORCH_GPU=ON -DLIBTORCH_DIR=/usr/local/lib/libtorch -DCDDP_CPP_SQP=ON -DCDDP_CPP_GUROBI=ON -DGUROBI_ROOT=/usr/local/lib/gurobi1201/linux64 -DCDDP_CPP_CASADI=ON -DCDDP_CPP_ACADO=ON ..
 # $ make -j4
 # $ make test
+

Dockerfile

@@ -12,9 +12,6 @@ RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y --no-ins
         libjpeg-dev \
         libpng-dev \
         libeigen3-dev \
-        python3 \
-        python3-dev \
-        python3-numpy  && \
     rm -rf /var/lib/apt/lists/*
 
 # Install Cuda Toolkit

README.md

@@ -83,7 +83,13 @@ Car model with limited velocity and steering control:
 ./examples/cddp_car // after building
 ```
 
-<img src="results/tests/car_motion.gif" width="300" alt="Car Model CDDP">
+<img src="results/tests/car_parking.gif" width="300" alt="Car Model CDDP">
+
+```bash
+./examples/cddp_car_ipddp // after building
+```
+
+<img src="results/tests/car_parking_ipddp.gif" width="300" alt="Car Model CDDP">
 
 ### Pendulum
 
@@ -105,17 +111,36 @@ Cartpole with cart control:
 ```
 
 <img src="results/tests/cartpole.gif" width="300" alt="Cartpole CDDP">
+<img src="results/tests/cartpole_results.png" width="300" alt="Cartpole CDDP">
+
 
 ### Quadrotor
 
 Quadrotor with thrust control:
 
 ```bash
-./examples/cddp_quadrotor // after building
+./examples/cddp_quadrotor_point // after building
 ```
 
 <img src="results/tests/quadrotor.gif" width="300" alt="Quadrotor CDDP">
 
+```bash
+./examples/cddp_quadrotor_circle // after building
+```
+
+<img src="results/tests/quadrotor_circle.gif" width="300" alt="Quadrotor CDDP">
+
+
+```bash
+./examples/cddp_quadrotor_figure_eight_horizontal // after building
+```
+<img src="results/tests/quadrotor_figure_eight_horizontal.gif" width="300" alt="Quadrotor CDDP">
+
+```bash
+./examples/cddp_quadrotor_figure_eight_vertical // after building
+```
+<img src="results/tests/quadrotor_figure_eight_vertical.gif" width="300" alt="Quadrotor CDDP">
+
 ### Manipulator
 
 Manipulator with joint torque control:
@@ -140,14 +165,15 @@ sudo apt-get install libeigen3-dev # For Ubuntu
 brew install eigen # For macOS
 ```
 
-* [Matplotlib](https://matplotlib.org/) (Plotting Library in Python)
+* [gnuplot](http://www.gnuplot.info/) (Plotting Library)
 ```bash
-pip install matplotlib
+sudo apt-get install gnuplot # For Ubuntu
+brew install gnuplot # For macOS
 ```
-
-* [numpy](https://numpy.org/) (Numerical Library in Python)
+* [imagemagick](https://imagemagick.org/) (Image Processing Library)
 ```bash
-pip install numpy
+sudo apt-get install imagemagick # For Ubuntu
+brew install imagemagick # For macOS
 ```
 
 Although the library automatically finds and installs the following dependencies via [FetchContent](https://cmake.org/cmake/help/latest/module/FetchContent.html), if you do not have ones, here is how you can install on your own.
@@ -187,7 +213,7 @@ This project uses the following open-source libraries:
 
 * [OSQP](https://github.com/google/osqp-cpp) (Apache License 2.0)
 * [osqp-cpp](https://github.com/google/osqp-cpp) (Apache License 2.0)
-* [matplotlibcpp](https://github.com/lava/matplotlib-cpp) (MIT License)
+* [matplotplusplus](https://github.com/alandefreitas/matplotplusplus) (MIT License)
 * [libtorch](https://github.com/pytorch/pytorch) (BSD 3-Clause License)
 
 ## Citing
@@ -201,6 +227,7 @@ This project is licensed under the Apache License 2.0 - see the [LICENSE](LICENS
 * add state constraint handling
 * add initial guess functionality based on path planner solution
 * add automatic differentiation
+* add second-order derivative handling
 * add nonlinear objective and constraint handling
 * improve parallelization
 * improve boxqp

examples/CMakeLists.txt

@@ -25,8 +25,32 @@ target_link_libraries(cddp_car_ipddp cddp)
 add_executable(cddp_cartpole cddp_cartpole.cpp)
 target_link_libraries(cddp_cartpole cddp)
 
-add_executable(cddp_dubins_car cddp_dubins_car.cpp)
-target_link_libraries(cddp_dubins_car cddp)
+add_executable(cddp_hcw cddp_hcw.cpp)
+target_link_libraries(cddp_hcw cddp)
+
+add_executable(cddp_lti_system cddp_lti_system.cpp)
+target_link_libraries(cddp_lti_system cddp)
+
+add_executable(cddp_manipulator cddp_manipulator.cpp)
+target_link_libraries(cddp_manipulator cddp)
+
+add_executable(cddp_pendulum cddp_pendulum.cpp)
+target_link_libraries(cddp_pendulum cddp)
+
+add_executable(cddp_quadrotor_circle cddp_quadrotor_circle.cpp)
+target_link_libraries(cddp_quadrotor_circle cddp)
+
+add_executable(cddp_quadrotor_figure_eight_horizontal cddp_quadrotor_figure_eight_horizontal.cpp)
+target_link_libraries(cddp_quadrotor_figure_eight_horizontal cddp)
+
+add_executable(cddp_quadrotor_figure_eight_vertical cddp_quadrotor_figure_eight_vertical.cpp)
+target_link_libraries(cddp_quadrotor_figure_eight_vertical cddp)
+
+add_executable(cddp_quadrotor_point cddp_quadrotor_point.cpp)
+target_link_libraries(cddp_quadrotor_point cddp)
+
+# # add_executable(cddp_quadrotor_circle_safe cddp_quadrotor_circle_safe.cpp)
+# # target_link_libraries(cddp_quadrotor_circle_safe cddp)
 
 add_executable(cddp_unicycle cddp_unicycle.cpp)
 target_link_libraries(cddp_unicycle cddp)
@@ -40,23 +64,11 @@ target_link_libraries(cddp_unicycle_safe_ipddp cddp)
 add_executable(cddp_unicycle_safe_ipddp_v2 cddp_unicycle_safe_ipddp_v2.cpp)
 target_link_libraries(cddp_unicycle_safe_ipddp_v2 cddp)
 
-add_executable(cddp_manipulator cddp_manipulator.cpp)
-target_link_libraries(cddp_manipulator cddp)
-
-add_executable(cddp_lti_system cddp_lti_system.cpp)
-target_link_libraries(cddp_lti_system cddp)
+add_executable(cddp_unicycle_safe_comparison cddp_unicycle_safe_comparison.cpp)
+target_link_libraries(cddp_unicycle_safe_comparison cddp)
 
-add_executable(cddp_pendulum cddp_pendulum.cpp)
-target_link_libraries(cddp_pendulum cddp)
-
-add_executable(cddp_quadrotor cddp_quadrotor.cpp)
-target_link_libraries(cddp_quadrotor cddp)
-
-add_executable(cddp_hcw cddp_hcw.cpp)
-target_link_libraries(cddp_hcw cddp)
-
-add_executable(mpc_hcw mpc_hcw.cpp)
-target_link_libraries(mpc_hcw cddp)
+# add_executable(mpc_hcw mpc_hcw.cpp)
+# target_link_libraries(mpc_hcw cddp)
 
 # Ipopt examples
 if (CDDP_CPP_CASADI)
@@ -79,12 +91,6 @@ endif()
 if (CDDP_CPP_ACADO)
     add_executable(acado_car acado_car.cpp)
     target_link_libraries(acado_car cddp)
-
-    # add_executable(acado_unicycle acado_unicycle.cpp)
-    # target_link_libraries(acado_unicycle cddp)
-
-    # add_executable(acado_cartpole acado_cartpole.cpp)
-    # target_link_libraries(acado_cartpole cddp)
 endif()
 
 # Neural dynamics examples