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RobOptim: an Optimization Framework for Robotics

Thomas Moulard
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Karim Bouyarmane
Eiichi Yoshida
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Numerical optimization is useful for various areas of robotics. However tackling optimization problems properly requires the use of non-trivial algorithms whose tuning is challenging. RobOptim aims at providing a unified framework for different categories of optimization problems while relying on strong C++ typing to ensure efficient and correct computations. This paper presents this software, demonstrates its genericity and illustrates current use by two full scale robotics examples.
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Dates and versions

hal-00802083 , version 1 (19-03-2013)


  • HAL Id : hal-00802083 , version 1


Thomas Moulard, Florent Lamiraux, Karim Bouyarmane, Eiichi Yoshida. RobOptim: an Optimization Framework for Robotics. Robomec, May 2013, Tsukuba, Japan. 4p. ⟨hal-00802083⟩
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