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C++ build

The repository remains a first-class C++ library even when distributed through PyPI for Python users.

Core build

cmake -S . -B build
cmake --build build -j4
ctest --test-dir build --output-on-failure

Python bindings from CMake

cmake -S . -B build-python -DCDDP_CPP_BUILD_PYTHON=ON -DCDDP_CPP_BUILD_TESTS=OFF -DCDDP_CPP_BUILD_EXAMPLES=OFF
cmake --build build-python -j4

Installed C++ assets

The install rules export:

  • libcddp and CMake package metadata
  • public headers under include/cddp-cpp/
  • the Python extension when CDDP_CPP_BUILD_PYTHON=ON

That lets the repository serve both as:

  • a source build for C++ consumers
  • the native backend for the pycddp wheel

Constraint coverage

IPDDP is the interior-point single-shooting solver in the C++ API. The current implementation supports:

  • path inequality constraints
  • terminal equality constraints via TerminalEqualityConstraint
  • terminal inequality constraints via TerminalInequalityConstraint
  • mixed path and terminal constrained problems

Attach terminal constraints on CDDP with addTerminalConstraint(...). IPDDP rejects unsupported terminal-constraint subclasses instead of silently ignoring them.