An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
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A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
COIN-OR Interior Point Optimizer IPOPT
Extensible Optimization Framework
RobOptim Core Layer: interface and basic mathematical tools
Nonconvex embedded optimization: code generation for fast real-time optimization + ROS support
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
