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   <div id="projectbrief">A Sparse Quadratic Programming Solver</div>
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<div class="title">qpSWIFT </div>  </div>
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<div class="textblock"><h1><a class="anchor" id="intro_sec"></a>
Introduction</h1>
<p>qpSWIFT is light-weight sparse Quadratic Programming solver targetted for embedded and robotic applications. It employs Primal-Dual Interioir Point method with Mehrotra Predictor corrector step and Nesterov Todd scaling. For solving the linear system of equations, sparse LDL' factorization is used along with approximate minimum degree heuristic to minimize fill-in of the factorizations </p>
<h1><a class="anchor" id="download_sec"></a>
Download</h1>
<p>qpSWIFT can be downloaded from the following link <a href="https://github.com/qpSWIFT/qpSWIFT">https://github.com/qpSWIFT/qpSWIFT</a> </p>
<h1><a class="anchor" id="feat_sec"></a>
Features</h1>
<ul>
<li>Written in ANSI-C</li>
<li>Fully functional Quadratic Programming solver for embedded applications</li>
<li>Code Generation for target platform</li>
<li>Tested on multiple target architectures<ul>
<li>x86</li>
<li>x86_64</li>
<li>ARM</li>
<li>PowerPC</li>
</ul>
</li>
<li>Support for multiple interfaces<ul>
<li>C/C++</li>
<li>Matlab</li>
<li>Simulink</li>
<li>Python</li>
</ul>
</li>
</ul>
<h1><a class="anchor" id="case_study"></a>
Case Studies</h1>
<ul>
<li>BAMBY</li>
<li>Ghost Robotics Vision60</li>
</ul>
<h1><a class="anchor" id="updates"></a>
Future Updates</h1>
<ul>
<li>Quadratic Program with only equality constraints</li>
<li>Support for R and Julia</li>
</ul>
<h1><a class="anchor" id="note"></a>
Note</h1>
<p>The project is still in active development. Feedback is highly appreciated. For any queries, please write to <a href="#" onclick="location.href='mai'+'lto:'+'hae'+'wo'+'npa'+'rk'+'@ka'+'is'+'t.a'+'c.'+'kr'; return false;">haewo<span style="display: none;">.nosp@m.</span>npar<span style="display: none;">.nosp@m.</span>k@kai<span style="display: none;">.nosp@m.</span>st.a<span style="display: none;">.nosp@m.</span>c.kr</a></p>
<h1><a class="anchor" id="cite"></a>
Citing qpSWIFT</h1>
<p>If you like qpSWIFT and are using it in your work, please cite the following paper <br  />
 </p><div class="fragment"><div class="line">@article{pandala2019qpswift,</div>
<div class="line">title     = {qpSWIFT: A Real-Time Sparse Quadratic Program Solver for Robotic Applications},</div>
<div class="line">author    = {Pandala, Abhishek Goud and Ding, Yanran and Park, Hae-Won},</div>
<div class="line">journal   = {IEEE Robotics and Automation Letters},</div>
<div class="line">volume    = {4},</div>
<div class="line">number    = {4},</div>
<div class="line">pages     = {3355--3362},</div>
<div class="line">year      = {2019},</div>
<div class="line">publisher = {IEEE}</div>
<div class="line">}</div>
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