ifopt ☆
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Description:
Light-weight C++ Interface to Nonlinear Programming Solvers
Type: Formula  |  Latest Version: 2.1.4@0  |  Tracked Since: Nov 2, 2025
Links: Homepage  |  formulae.brew.sh
Category: Developer tools
Tags: optimization robotics c-plus-plus mathematics nlp
Install: brew install ifopt
About:
Ifopt provides a standardized C++ interface for solving nonlinear optimization problems, acting as a wrapper around popular solvers like IPOPT and NLopt. It allows developers to define cost functions and constraints using automatic differentiation, simplifying the integration of complex optimization tasks into robotic control systems.
Key Features:
  • Unified interface for multiple NLP solvers
  • Automatic differentiation support
  • Eigen-based matrix operations
  • Modular constraint and cost function definitions
Use Cases:
  • Trajectory optimization for robotic manipulators
  • Model Predictive Control (MPC) implementation
  • Parameter estimation in non-linear systems
Alternatives:
  • CasADi – More comprehensive but heavier dependency for embedded systems
  • GTSAM – Focuses on factor graphs and SLAM rather than general NLP
Version History
Detected Version Rev Change Commit
Nov 2, 2025 6:32am 1 VERSION_BUMP ef6763da
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