# C-Frost

**Repository Path**: publiagent123/C-Frost

## Basic Information

- **Project Name**: C-Frost
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-05-19
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# C-Frost

C-Frost is a toolbox that helps convert [Frost](https://github.com/ayonga/frost-dev) in native C++ [Ipopt](https://projects.coin-or.org/Ipopt) problems.
It has been noticed that running on native C++ significantly improves running speeds compared to running the mexed Ipopt version provided by Frost.

Frost has been tested on native Ubuntu 16.04 and on Ubuntu 16.04 running on [WSL](https://docs.microsoft.com/en-us/windows/wsl/install-win10).

## Installation

C-Frost needs [Ipopt](https://projects.coin-or.org/Ipopt) to be installed on your system to run. You can follow the [official documentation](https://www.coin-or.org/Ipopt/documentation/node2.html), but we recommend you follow the steps we've used [here](INSTALLATION.md).

## Descriptions

[Linux/](Linux) contains source files to be used when building your Frost problem. For typical cases you won't need to change anything in that folder.

[Matlab/](Matlab) contains Matlab code used to create C++ files from your Frost problem on Matlab.

[Examples/](Examples) contains some examples including explanation and a small walkthrough of the code.

[ThirdPartyLicense/](ThirdPartyLicense) contains licenses and disclamers from third party code used.

## Tutorial

Once done installing all the prerequisits, we recommend going over [here](Examples/README.md) to go through the examples and how to use this tool.

## Example

[Cassie Blue](https://www.biped.solutions/) Gait Library Optimization: [here](https://github.com/UMich-BipedLab/Cassie_CFROST)