- Overview
- Docs
- Introduction
- Getting Started
- Solver
- Advanced Options
- API
- Citing
- Github
Features
Performance
State-of-the-art performance for both convex (linear dynamics) and nonlinear trajectory optimization problems.
Interface
Convenient interface for dynamics and problem definition via TrajectoryOptimization.jl and RobotDynamics.jl.
Nonlinear state
Supports generic nonlinear state and control constraints at each time step.
SOCPs
Supports second-order-cone programs (SOCPs).
Trajectories
Allows initialization of both state and control trajectories.
Integration
Supports integration up to 4th-order Runge-Kutta methods. Higher-order methods are possible but not yet implemented
3D Rotations
Supports optimization on the space of 3D rotations.
Efficient Methods
Provides efficient methods for auto-differentiation of costs, constraints, and dynamics via ForwardDiff.jl and FiniteDiff.jl.
ALTRO beats most solvers.
ALTRO has demonstrated state-of-the-art performance for convex conic MPC problems, beating SOCP solvers such as Mosek, ECOS, and SCS. For quadratic MPC problems, ALTRO has performance on-par or better than OSQP.
Credits
Sponsors
