Developing and maintaining the Sleipnir constrained optimization problem solver and tools based on it.
Sleipnir — A linearity-exploiting sparse nonlinear constrained optimization problem solver that uses the interior-point method.
TrajoptLib — This library is used to generate time-optimal trajectories for FRC robots.
Choreo — A graphical tool for planning time-optimized trajectories for autonomous mobile robots in the FIRST Robotics Competition.