qr_trees

An implementation of (templated) iLQR can be found in headers src/templated/iLQR.hh and src/templated/iLQR_impl.hh.

Requirements

• Eigen3
• Python (python-dev)

If using clang compiler, libc++ is required (sudo apt-get install libc++-dev).

You may need to get Eigen 3.3 or higher to get it working with C++11 standards.

Quick Build Instructions:

git clone --recursive https://github.com/LAIRLAB/lqr_trees
cd lqr_trees
mkdir build && cd build
cmake ..
make -j8

We do a recursive build to clone all the submodules. Currently the following submodules are used:

• pybind11

Building on Mac OSX with Homebrew

For compiling the python bindings, the default behavior will link using the built in Apple's python (which works fine). If you want to use the homebrew python in its default location (e.g. to use the homebrew IPython), you can replace the cmake .. command from above with the following.

cmake .. -DUSE_PYTHON_HOMEBREW=True

This will use the python includes and libraries from /usr/local/Cellar/python/2.7.12_2/Frameworks/Python.framework/Versions/2.7. This assumes you have homebrew python version 2.7.12_2. This is not the cleanest way to do this, but it works for now.

You may also be able to manually specify PYTHON_INCLUDE_DIRS and PYTHON_LIBRARIES (e.g. cmake .. -DPYTHON_INCLUDE_DIRS=[include_dir] -DPYTHON_LIBRARIES=[libary_dir]. This option may or may not work and has not been tested.