Electrical Engineering and Systems Science > Systems and Control
[Submitted on 13 Sep 2023
(v1)
, last revised 16 Sep 2025 (this version, v3)]
Title: Ungar - A C++ Framework for Real-Time Optimal Control Using Template Metaprogramming
Title: 翁格尔 - 一种使用模板元编程的实时最优控制 C++ 框架
Abstract: We present Ungar, an open-source library to aid the implementation of high-dimensional optimal control problems (OCPs). We adopt modern template metaprogramming techniques to enable the compile-time modeling of complex systems while retaining maximum runtime efficiency. Our framework provides syntactic sugar to allow for expressive formulations of a rich set of structured dynamical systems. While the core modules depend only on the header-only Eigen and Boost.Hana libraries, we bundle our codebase with optional packages and custom wrappers for automatic differentiation, code generation, and nonlinear programming. Finally, we demonstrate the versatility of Ungar in various model predictive control applications, namely, four-legged locomotion and collaborative loco-manipulation with multiple one-armed quadruped robots. Ungar is available under the Apache License 2.0 at https://github.com/fdevinc/ungar.
Submission history
From: Flavio De Vincenti [view email][v1] Wed, 13 Sep 2023 08:16:24 UTC (404 KB)
[v2] Thu, 14 Sep 2023 07:21:02 UTC (404 KB)
[v3] Tue, 16 Sep 2025 15:38:40 UTC (404 KB)
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