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nmpc

Non-linear Model Predictive Control library for UAV control.

Structure

Configuration

Building

Requires cmake version 2.8.7 or higher.

Create a build directory outside the source tree, then use cmake to generate the makefile.

mkdir nmpc_build

cd nmpc_build

cmake /path/to/nmpc

Now, build the library using the make command. An appropriate version of Eigen will be downloaded automatically.

To build the dynamic library, run make cnmpc. A dynamic library appropriate for the host platform should be built.

Testing

Python module installation

Requires cmake version 2.8.7 or higher.

Run python setup.py install to build the C shared library and install the Python interface (the nmpc module) in your site-packages directory.

Alternatively, just run pip install https://github.com/sfwa/nmpc/archive/master.zip#egg=nmpc-1.0.0 to download and install.