Ungar - A C++ Framework for Real-Time Optimal Control Using Template Metaprogramming
Flavio De Vincenti,Stelian Coros,Flavio De Vincenti,Stelian Coros
We present Ungar, an open-source library to aid the implementation of high-dimensional optimal control problems (OCPs). We adopt modern template metaprogramming techniques to enable the compile-time modeling of complex systems while retaining maximum runtime efficiency. Our framework provides syntactic sugar to allow for expressive formulations of a rich set of structured dynamical systems. While ...
