Repositories list

• ifopt

  Public
  An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

  nlpcmakecpp+ 10

  nlpcmakecpproboticsoptimizationeigenroscatkintrajectory-optimizationnonlinear-optimization+ 3

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •165•851•14•4•Updated Nov 3, 2025Nov 3, 2025

• towr

  Public
  A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

  robotcomputer-graphicseigen+ 14

  robotcomputer-graphicseigenmotion-planningrostrajectory-optimizationlocomotionnonlinear-programmingcollocationlegged-robots+ 7

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •250•1k•24•3•Updated Apr 17, 2023Apr 17, 2023

• control-toolbox

  Public
  The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

  cpproboticsautomatic-differentiation+ 12

  cpproboticsautomatic-differentiationcontrol-systemstrajectory-optimizationoptimal-controlmodel-predictive-controlrigid-body-dynamicslqr-controllerextended-kalman-filter+ 5

  C++

  •

  BSD 2-Clause "Simplified" License

  •341•1.7k•59•4•Updated Nov 9, 2022Nov 9, 2022

• ifopt-release

  Public
  ROS release repository for ifopt

  0•1•1•0•Updated Mar 24, 2022Mar 24, 2022

• matlab_cpp_interface

  Public
  C++

  •

  BSD 2-Clause "Simplified" License

  •1•4•0•0•Updated May 12, 2020May 12, 2020

• ethz-adrl.github.io

  Public
  HTML

  •0•0•0•0•Updated Feb 19, 2020Feb 19, 2020

• ct_ros

  Public
  ROS examples for the control toolbox

  robotics

  robotics

  C++

  •

  BSD 2-Clause "Simplified" License

  •8•39•0•0•Updated Dec 28, 2019Dec 28, 2019

• towr-release

  Public
  ROS release repository for towr

  2•2•0•0•Updated Apr 5, 2019Apr 5, 2019