Legacy optimizer plugins and bindings extracted from the DART project. This repository preserves the optional Ipopt, NLopt, pagmo, and SNOPT backends (and their tests/bindings) that were removed from the core dartsim/dart repository in DART 7.0.
The code here is provided as-is for reference. It mirrors the structure that existed under dart/optimizer/ inside DART, including CMake modules and the supporting python bindings/tests.
dart/optimizer/{ipopt,nlopt,pagmo,snopt}plugin sources.- Multi-objective optimization helpers (
GenericMultiObjectiveProblem,MultiObjectiveProblem,MultiObjectiveSolver,Population). - CMake find modules for Ipopt, NLopt, pagmo, and SNOPT.
- Legacy integration tests, python bindings, and helper data files needed by the plugins.
The code retains the original BSD-style license from DART (see LICENSE).