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Python Interface to opt_control

This Python package provides an interface to the underlying opt_control C++ library.

Install the package.

These command line examples assume your working directory is already opt_control/python and you are already in a Python 3 virtual environment.

  • First build the shared library.
$ make
  • Then install the Python package in editable mode from local source.
$ pip install -e .

Test your installation.

$ python tests/eval_example.py

Tips

It is always advisable to do Python development in a vitual environment. If this is an unfamiliar topic, here is a generic example/recommendation.

  • One time, create a virtual environment called 'opt' somewhere convenient.
python3 -m venv ~/venv/opt
source ~/venv/opt/bin/activate
pip install --upgrade pip
  • In the future, access your 'opt' virtual environment again with
source ~/venv/opt/bin/activate
  • Make sure you're in your new virtual environment before installing packages or running scripts.

Status

  • This is a work in progress. The API and packaging are not stable.
  • It is known that some boundary conditions lead to solver failures.
  • The Python interface uses the same underlying .a compiled library as the ROS interface, so any issues related to the solver will affect both. The Matlab interface uses a separate compiled .mex library.