DDP-Generator | Generate taylored code for Differential Dynamic Programming

DDP-Generator is a C library. DDP-Generator has no bugs, it has no vulnerabilities, it has a Strong Copyleft License and it has low support. You can download it from GitHub.

Your optimal control problem has to be defined in a maxima batch file, i.e. a text file with .mac suffix containing maxima expressions. In this file at least five variables plus an optional sixth have to be defined: * x: a list of symbols for the state names (e.g. x: [state1, state2, state3]) * u: a list of symbols for the system inputs (e.g. x: [in1]) * f: the time discrete state transition function as an array index by the state name symbols. E.g. The symbols for states and inputs may not be defined. In the expressions of f, L, F and h any undefined symbol appart from state and input symbols is considered to be a parameter. Any defined symbol is considered to be an auxillari value. Auxillari values and their derivatives are calculated separately and before their use in f, L, F or h or their derivatives. Auxillari values may depend on other auxillari values, states, inputs or parameters. If you use auxillaries, make sure to prefix them with an apostrophe. Otherwise, the auxillari definition will be substitued in to your expression and you end up without the benefits of auxillaries.