Welcome to the OpenSoT’s documentation!

An Open Source Task Solving library with Constraints

OpenSoT is a C++ library designed to streamline the process of writing and solving Quadratic and Linear Programming (QP/LP) problems with a focus on robotic applications, such as Differential Inverse Kinematics (DIK), Inverse Dynamics (ID), and contact force distribution.

Main features:

• Robot-Agnostic: support to generic fixed/floating-base systems

• Efficient: based on Eigen for fast and real-time computation

• Ready & Easy to Use: An out-of-the-box library of Tasks and Constraints to create complex control problems, all of which can be efficiently solved using dedicated Solvers

• Easy to Extend: A C++ API permits to implement new Tasks, Constraints, and Solvers

Contents:

• Intro
• Task
  • SubTask
  • GenericTask
• Constraint
  • SubConstraint
  • BilateralConstraint
  • GenericConstraint
• Stack
• Solver
  • Available Solvers
• Variables
  • Variable usage
  • Affine Task and Affine Constraint
• Aknowledge
• Library API
  • Page Hierarchy
  • Class Hierarchy
  • File Hierarchy
  • Full API