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dart-optimization

Legacy optimizer plugins and bindings extracted from the DART project. This repository preserves the optional Ipopt, NLopt, pagmo, and SNOPT backends (and their tests/bindings) that were removed from the core dartsim/dart repository in DART 7.0.

The code here is provided as-is for reference. It mirrors the structure that existed under dart/optimizer/ inside DART, including CMake modules and the supporting python bindings/tests.

Contents

  • dart/optimizer/{ipopt,nlopt,pagmo,snopt} plugin sources.
  • Multi-objective optimization helpers (GenericMultiObjectiveProblem, MultiObjectiveProblem, MultiObjectiveSolver, Population).
  • CMake find modules for Ipopt, NLopt, pagmo, and SNOPT.
  • Legacy integration tests, python bindings, and helper data files needed by the plugins.

License

The code retains the original BSD-style license from DART (see LICENSE).