Uses C++ implementations of CasADi, Ipopt, and acados in the backend.
Get started within minutes
Download the toolbox and run some of the examples.
Derivatives are calculated automatically using CasADi.
Optimal control modeling
Have a look at the docs to see which type problems are supported. Let us know if you have an optimal control problem that is currently not supported.
For trajectory optimization we use the direct collocation method and solve the non-linear program using CasADi and Ipopt.
Model Predictive Control (MPC)
OpenOCL has a basic interface to acados which provides some fast SQP methods. The acados interface is ongoing work, let us know if you are missing a feature.