OptimTraj

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Error with running quadRotor2d demo

1

Hello, I attempted to run the "MAIN_simulate.m" and "MAIN_minForceTraj.m" files in the quadRotor2d demo, but received the following error in both cases: Index in position 1 exceeds array bounds (must...

ghost

GPOPS-II Interpolation Function Handle returned by OptimTraj

4

In gpopsWrapper.m, OptimTraj provides an interpolation function handle for the GPOPS-II solution using pchip, as per the code below. Is pchip the most accurate way to interpolate the GPOPS-II solution?...

stumarcus314

Bug (?) in OptimTraj wrapper for GPOPS?

7

I'm having some trouble getting the OptimTraj gpops method to work on my problem in certain cases. Do you know what might be causing the error below? I think this...

stumarcus314

Problem with initial guess P.x0

3

Hi, I wrote the matlab function which calculates dynamics for an inverted pendulum and I would like to use OtimTraj to find a Swingup Trajectory however as I run the...

kurosh-z

Improve input validation

2

Right now the input validation will not warn you if there is an unused field in the options struct. This results in a problem when you make a typo in...

MatthewPeterKelly

Make it clear to users how to install this library. - Add a INSTALL.md file - Move source code into a src/ directory - Add a simple installation script to...

MatthewPeterKelly

Portability of Interpolation

1

Part of the solution struct includes a function handle for interpolating the solution and the error estimates. This handle sometimes breaks if the solutions is saved and then opened on...

MatthewPeterKelly

There are many NLP solvers that can interface with Matlab, potentially allowing users to try to solve problems using a core solver other than FMINCON. Two possible interfaces are with...

MatthewPeterKelly

What is the deal with the undocumented MultiCheb method in OptimiTraj?

1

Is there any issue with the 'multiCheb' method? It doesn't seem to be documented in the users' guide, but it seems to give good answers for the demo examples and...

stumarcus314

Are the OptimTraj chebyshev and multiCheb methods able to exploit user-supplied gradients of the pathObjective, dynamics, etc...?

1

The trapezoid, hermiteSimpson, and rungeKutta methods in OptimTraj are able to exploit user-supplied gradients of the pathObjective, dynamics, etc... Are the OptimTraj chebyshev and multiCheb methods also able to exploit...

stumarcus314