qpoases_ros

The qpOASES quadratic programming solver in a ROS package.

This ROS package pulls a revision of the code from the project's SVN and builds the C++ library and Python wrappers.

Note that install rules are missing for now.

About qpOASES

Look at the project home page for the best description of the solver's capabilities.

There is also a User’s Manual.

C++ library

Currently useless. Catkin seems to expect all include directories (INCLUDE_DIRS in catkin_package) to be relative to the package root (CMAKE_CURRENT_SOURCE_DIR). QpOASES actual files get checked out into the build tree though.

Python library

Will end up as qpoases in the workspace scope (so do import qpoases). After a build you should be able to run the Python examples. Examples get checked out during the build process and end up (relative to your workspace) in

build/qpoases_ros/qpoases_svn/src/qpoases_svn/interfaces/python/examples/