Repository Structure

Programming Language

The main programming language of this library is python, but other languages are also welcome. Besides python, there is a plant and a simulator as well as an iLQR solver written in C++. The iLQR solver has python bindings so that it can be used with the other components.

If you want to contribute something please use/create the folder in the src directory with the name of the used programming language.

Repository Overview

The following overview covers the python code and the code which has python bindings to be used in the same ecosystem. The repository is organized in modules. The interplay of the modules is visualized in the figure below:

There are standardized interfaces and file formats for the communication between the modules which are explained in the following.

For more details see also:

• Model Parameters
• Trajectory data
• Controller Class