Python wrapper for TinyMPC.

Installation

pip install tinympc

For development installation (optional):

git clone --recurse-submodules https://github.com/TinyMPC/tinympc-python.git
cd tinympc-python
pip install -e .

Note: If you cloned without --recurse-submodules, run git submodule update --init --recursive to fetch the TinyMPC sources.

Examples

The examples/ directory contains several demonstration files:

Basic Examples

• cartpole_example_one_solve.py - Single solve for cartpole problem
• cartpole_example_mpc.py - MPC implementation for cartpole
• cartpole_example_mpc_constrained.py - MPC with constraints

Code Generation Examples

Note: Quadrotor Code generation examples require autograd: pip install autograd

• cartpole_example_code_generation.py - Code generation for cartpole
• quadrotor_hover_code_generation.py - Code generation for quadrotor hover
  • For online hyperparameter tuning, set ENABLE_ADAPTIVE_RHO = True in the file

Documentation

Documentation and examples can be found here.