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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

solo12_solve_times

SOLO-12 solve times

ur10_solve_times

UR10 solve times

Building

Dependencies Building this repo requires:

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>