Support for multiple-phase problems

[MatthewPeterKelly]

As of now, TrajOpt can only solve single-phase trajectory optimization problems. The extension to multiple-phase problems isn't too hard, but it does require a bit of restructuring of the code base. Look-up GPOPS-II if you're curious about multiple-phase problems.

[zijinoier]

So is there any progress in multi-phase problems solving? I found out what I need to solve is a multi-phase optimize problem :(

[MatthewPeterKelly]

So far there is no one actively working on multi-phase optimization features for OptimTraj. I'm personally not working on new features for OptimTraj, although I would be happy to review user-submitted features, documentation, examples, and bug fixes.

The best multi-phase trajectory optimization software for Matlab that I know of is GPOPS-II, by Michael Patterson and Anil Rao. There is a inexpensive student / academic license if that applies to you.