OptimTraj

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Best method to add path points

1

Hi @MatthewPeterKelly, thank you for this awesome project and the description. I'm new to trajectory optimization and want to setup something specific: Beside the start and end point, I want...

ChrGri

Unrecognized field name

1

I've just cloned the repository and tried running a few of the demos, but I keep getting the following error: ``` WARNING: options.nlpOpt.GradConstr is not a valid option WARNING: options.nlpOpt.GradObj...

coltbk

I added the main folder to my matlab path. Then went to the folder for the acrobot, openend the main file, ran it and got: ``` Running OptimTraj, iteration 1...

OrionSmedley

when run MAIN_forceSquared.m ,it shows err use dynamics ,the output parameters is too much ,ERR: MAIN_forceSquared>@(t,x,u)(dynamics(x,u))

1

错误使用 dynamics 输出参数太多。 出错 MAIN_forceSquared>@(t,x,u)(dynamics(x,u)) 出错 directCollocation>myCstGrad (line 627) [f, fGradRaw] = dynFun(t,x,u);

dbdxnuliba

Hi, I am trying to add a terminal cost to the objective function that is only state dependent, I tried doing this: ``` function objectiveFunctions() R = [0, 0, 0,...

BolunDai0216

One key feature in `OptimTraj` is the ability to compare different collocation methods. There is currently support for Hermite--Simpson collocation and trapezoidal collocation, as well as 4th-Order Runge--Kutta multiple shooting....

MatthewPeterKelly

Specifying dynamics on a lower dimension

1

Hi Matt, thank you for this software package. I was wondering if there is a way to specify partial dynamics that are projected on a lower-dimensional space. For example, instead...

jaskaransgrover

Error when running toyCar in octave

3

Hi, I am running toyCar's MAIN.m file, and get this error ``` error: pivot is zero error: called from gjp at line 42 column 5 cpiv_bard at line 76 column...

samlaf

Generate trapezoidal collocation constraints

8

Hi @MatthewPeterKelly , Excuse me fro the naive question. I'm new here I'd like to know if the user should always define the constraints (eg. non-linear equality constraints) for solving...

DeepaMahm

Support for multiple-phase problems

2

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...

MatthewPeterKelly