Qontrol Documentation

Welcome to the Qontrol documentation! This documentation covers both the C++ library and its Python bindings. Qontrol is quadratic optimization library for robot control.

Qontrol is a flexible and efficient library for solving robot control problems using quadratic programming. It supports various control modes (velocity, acceleration, torque) and provides a rich set of tasks and constraints.

Features

• Multiple Control Modes: Velocity, acceleration, and torque control

• Hierarchical Task Control: Priority-based task execution

• Flexible Constraints: Joint limits, workspace constraints, collision avoidance

• Efficient QP Solvers: Integration with popular QP solver libraries

• Python Bindings: Easy-to-use Python interface to the C++ library

Quick Start

Installation

pip install pyqontrol

Contents

User Guide

• Installation
  • Prerequisites
• Philosophy
  • Optimisation based control
  • Problem formulation
  • Tasks
  • Constraints
  • Robot model
  • QP solver
• Quick Start Guide
  • Basic Concepts
  • Simple Velocity Control Example
  • Adding Constraints
  • Acceleration Control
  • Torque Control
  • Next Steps
• Examples
  • Acceleration Qontrol
  • Velocity Qontrol
  • Torque Qontrol
  • Acceleration Qontrol Interactive
  • Torque Control Interactive
  • Velocity Qontrol Wall Constraint Interactive
  • Custom Constraint Interactive
  • Custom Task Interactive
  • Slack Interactive
  • GHC Interactive Examples

API Reference

• API Reference
  • C++ API
  • Python API
  • Quick Links

Additional Information

• Contributing

Indices and tables

• Index

• Module Index

• Search Page