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CDDP

cddp-cpp is a constrained differential dynamic programming solver library with:

  • a C++17 core library for trajectory optimization and MPC
  • pycddp Python bindings built with pybind11
  • a small animation-oriented Python portfolio for demos and regression checks

Use the navigation to get started with installation, local development, and the release workflow for PyPI and GitHub Pages.

Project scope

  • C++ library: reusable solver and dynamical-system implementations
  • Python package: importable bindings distributed as pycddp
  • Docs site: Markdown content from docs/, published to GitHub Pages

Portfolio highlight

The Python portfolio page is the visual entry point for the bindings and their animation-driven demos.

Open the portfolio gallery Read the Python package guide

Quick start

Install the Python package from PyPI:

pip install pycddp

Or build from source:

git clone https://github.com/astomodynamics/cddp-cpp
cd cddp-cpp
cmake -S . -B build
cmake --build build -j4
ctest --test-dir build --output-on-failure