A Fast Solver for Constrained Trajectory Optimization

One of the best modern ways to include a dependency in a CMake project is through the FetchContent module. To bring altro into your CMake project, add these lines into your CMakeLists.txt file:

list(APPEND CMAKE_MESSAGE_CONTEXT altro)
FetchContent_Declare(altro
  GIT_REPOSITORY https://github.com/bjack205/altro
  GIT_TAG 9819e66a6d20daf39e23bd9b45444b7f5aeb3322 
  )
FetchContent_MakeAvailable(altro)
list(POP_BACK CMAKE_MESSAGE_CONTEXT)

Then link against the altro::altro target, same as if you had brought it in via find_package (described below). Note that this clones the repo into your build folder and builds all of the altro targets as part of your CMake project, ensuring uniform compilation and dependency management. Note this will also bring in the Eigen and fmt libraries (also through FetchContent).

To install altro locally onto your computer, simply build the install CMake target:

git clone https://github.com/bjack205/altro
cd altro
mkdir build
cd build   # TIP: you can shortcut these two with `take build` with zsh
cmake -D BUILD_SHARED_LIBS=ON -D CMAKE_INSTALL_PREFIX=/desired/install/location ..
cmake --build . -j4
cmake --install .

If the --prefix flag is left off (or CMAKE_INSTALL_PREFIX is unset), it will install to /opt/rexlab/altro by default.

To use the installed version, use the find_package command. Here's a minimal working example:

cmake_minimum_required(VERSION 3.19)
project(AltroCMakeExample)

find_package(altro 0.1 REQUIRED)
find_package(fmt REQUIRED)

add_executable(main main.cpp)
target_link_libraries(main PRIVATE altro::altro fmt::fmt Eigen3::Eigen)

Note that altro internally uses the fmt and Eigen libraries. To link against the same versions used by altro, use the fmt::fmt and Eigen3::Eigen targets brought in automatically when importing altro.

Also note that CMAKE_PREFIX_PATH should be set to whatever directory you used in the install.

This shows how to compile the code to use on a Teensy microcontroller.

1. Install Arduino CLI

cd ~/.local
curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh

2. Change directory back to altro root

cd <altro/root/directory>

3. Install Teensy Arduino libraries and Teensy rules

sudo cp resources/00-teensy.rules /etc/udev/rules.d/
arduino-cli core install teensy:avr --additional-urls https://www.pjrc.com/teensy/td_156/package_teensy_index.json

4. If needed, add yourself to the dialout and tty groups

sudo usermod -a -G tty $USER 
sudo usermod -a -G dialout $USER