aligator-bench

This is a set of small benchmarks for the aligator optimal control library.

Contents

We test the following solvers:

• aligator's SolverProxDDP
• ALTRO (using a fork included as a submodule)
• the generic NLP solver Ipopt

SOLO-12 solve times

UR10 solve times

Building

Dependencies Building this repo requires:

• aligator
• gtest | conda
• ipopt | repo | conda

These dependencies can easily be installed from conda/mamba:

mamba install -c conda-forge aligator gtest

The first step, as always, is to checkout the repository (recursively, as to get the submodules)

git clone https://github.com/Simple-Robotics/aligator-bench --recursive

Then, create the build dir and build away:

mkdir build && cd build
cmake ..  # with your usual options e.g. -DCMAKE_PREFIX_PATH=$CONDA_PREFIX
cmake --build . -j<num-jobs>