Simple-mpc 是基于 Aligator 优化求解器的多种预测控制方案在 C++ 上的实现。 可用于与四足动物和两足动物一起生成基于预定义接触计划的全身行走动作。 C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver
active 2024-12-21 → 2026-07-06 (UTC)
Activity over time
Daily event counts in the loaded window
Line chart, 563 days from 2024-12-21 to 2026-07-06. Pushes: 80 total, peak 6 in a day. Pull requests: 21 total, peak 2 in a day. Issues: 7 total, peak 1 in a day. Comments: 24 total, peak 8 in a day. Stars: 18 total, peak 4 in a day.
- Pushes
- Pull requests
- Issues
- Comments
- Stars
Stars, PRs, issues and forks are under-captured in the later part of this window. GH Archive progressively stopped capturing non-push events during 2026 — −95% or worse by the end of the window. Every series here except Pushes fades for that reason, so a decline above reflects the archive, not this repository. Pushes stay reliable throughout, so read them, and the contributor counts derived from them, as the real signal. Data health has the measurements.
Top contributors
Pushes, PRs, issues, reviews and comments — stars and forks excluded, so this is contribution rather than popularity
| Contributor | Contributions | Pushes | PRs | Comments |
|---|---|---|---|---|
| EtienneAr | 74 | 53 | 5 | 6 |
| edantec | 31 | 11 | 3 | 11 |
| pre-commit-ci[bot] | 20 | 10 | 10 | 0 |
| ManifoldFR | 9 | 0 | 1 | 3 |
| Zionshang | 5 | 0 | 0 | 2 |
| EthanZengg | 4 | 0 | 0 | 2 |
| matth75 | 2 | 0 | 2 | 0 |
| nim65s | 1 | 1 | 0 | 0 |
Recent activity
Latest issues, pull requests and releases
- Pull request#86EtienneAr2026-01-12 10:52
- Pull request#85pre-commit-ci[bot]2026-01-08 09:15
- Pull request#85pre-commit-ci[bot]2025-12-22 21:41
- Pull request#78pre-commit-ci[bot]2025-11-10 22:28
- Pull request#77pre-commit-ci[bot]2025-11-03 22:06
- Pull request#72pre-commit-ci[bot]2025-10-20 23:40
- Issue#69EtienneAr2025-10-15 13:51Clean readme and install procedure
- Pull request#68EtienneAr2025-07-28 11:52
- Pull request#65edantec2025-07-16 10:01
- Pull request#65pre-commit-ci[bot]2025-06-30 20:45
- Issue#64Zionshang2025-06-30 00:29Does Aligator MPC only support receding horizon strategy?
- Issue comment#59EtienneAr2025-06-23 11:33Fixes for aligator 0.15
- Pull request#62edantec2025-06-23 11:27
- Issue#63EtienneAr2025-06-23 11:22Re-enable test on mpc memory cycling
- Pull request#61matth752025-06-12 15:57
- Pull request#61matth752025-06-12 15:56
- Issue comment#52Zionshang2025-06-11 11:28The swinging legs of the quadruped robot always turn outward.
- Issue#52Zionshang2025-06-11 11:28The swinging legs of the quadruped robot always turn outward.
- Pull request#60edantec2025-06-11 08:40
- Issue comment#51edantec2025-06-10 09:38Issues with Implementing the Controller on Real Hardware
- Issue comment#52edantec2025-06-10 09:35The swinging legs of the quadruped robot always turn outward.
- Pull request#59ManifoldFR2025-06-03 15:34
- Pull request#58EtienneAr2025-05-27 07:42
- Pull request#57EtienneAr2025-05-27 06:46
- Pull request#57pre-commit-ci[bot]2025-05-26 20:49
Totals cover only the window loaded into ClickHouse and count events, not GitHub's lifetime totals — 18 stars here means stars gained during the window, not the repo's star count.