2P1-A04 RobOptim : an Optimization Framework for Robotics(Humanoid)
Thomas Moulard, Florent Lamiraux, Karim Bouyarmane, Eiichi Yoshida · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
Numerical optimization is useful for various areas of robotics. However tackling optimization problems properly requires the use of non-trivial algorithms whose tuning is challenging. RobOptim aims at providing a unified framework for different categories of optimization problems while relying on strong C++ typing to ensure efficient and correct computations. This paper presents this software, demonstrates its genericity and illustrates current use by two full scale robotics examples.