OptimTraj
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MatthewPeterKelly
A trajectory optimization library for Matlab
The MATLAB code fminsdp: https://www.mathworks.com/matlabcentral/fileexchange/43643-fminsdp would make it really easy for OptimTraj to easily switch between several different 3rd party NLP solvers like IPOPT, SNOPT, KNITRO, and fmincon, assuming the...
Hessians
Some of the OptimTraj methods (i.e. trapezoid, hermiteSimpson, rungeKutta) are able to exploit user-supplied gradients of the dynamics, path objective, etc. functions. Are there plans for the OptimTraj methods to...
This is a thing that neat quad-copter demos do all of the time. Move a balanced and inverted pendulum between two points in 3D space, by applying a force to...
ADiGator (https://sourceforge.net/projects/adigator/) is free, open-source MATLAB software that computes vectorized gradients (and even Hessians) via automatic differentiation. It was developed by the author of GPOPS-II to make it easier to...
Do you plan to compute estimates of the costates and provide those with the OptimTraj solution, in addition to the states and controls? The costates can be useful if one...
The commercial MATLAB optimal control solver GPOPS-II has been integrated into OptimTraj. It may be useful to also integrate the commercial MATLAB optimal control solvers DIDO and PROPT into OptimTraj....
So far, only the trapezoid and hermiteSimpson methods support mesh analysis. The key idea here is that you can compute an estimate of the error in the dynamics along the...
Right now, the direct collocation methods assume that the time grid in the trajectory is uniform. It would be much better if the user could supply an arbitrary grid on...
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A trajectory optimization library for Matlab