ohtsukalab/autogenu-jupyter
An automatic code generator for nonlinear model predictive control (NMPC) and the continuation/GMRES method (C/GMRES) based numerical solvers for NMPC
Generates optimized C++ solver code and Python bindings from symbolic OCP definitions in Jupyter notebooks, supporting both single and multiple shooting variants with state/costate condensing. Provides a header-only `cgmres` library integrating SymPy for symbolic computation and pybind11 for Python interoperability, enabling rapid prototyping and deployment of real-time NMPC controllers for robotics applications.
178 stars. No commits in the last 6 months.
Stars
178
Forks
38
Language
C++
License
MIT
Category
Last pushed
Jul 01, 2025
Commits (30d)
0
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