aligator  0.12.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
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gar Directory Reference
Directory dependency graph for gar:

Directories

 include
 
 src
 

Detailed Description

GAR (General Augmented lagrangian Riccati) is a set of algorithms for the fast solving of proximal and constrained LQR-type linear systems.

It contains an API for defining implicit-dynamics, equality-constrained linear-quadratic problems, and a set of proximal solvers for these: