Constrained optimization library specialized for (mobile) manipulation, geared toward objectives and constraints that can naturally be modeled using a robot's kinematic model. The focus is on reusability, flexibility, and expressive user-level feedback when objectives cannot be achieved.
You need CMake, Eigen3, and GTK2 (for the demos)
mkdir build
cd build
cmake ..
make
./demo/demo -h
For the API docs (you need Doxygen for this), go to the top-level source directory and run
doxygen Doxyfile
Then open html/index.html in a browser. There also is a
(rudimentary beginning of a) technical report underneath the doc/
directory. It is written in LaTeX.
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