Jason K. Moore

I developed this example to explore control parameter identification in human standing: https://github.com/csu-hmc/opty/tree/master/examples/park2004 Park solved the problem in 2004 with shooting methods. In 2020, Wang and van den Bogert solved...

Allow `Problem` to accept symbolic objectives.

1

Timo suggested: ```python # Assume obj and obj_grad are passed obj = args[0] if args else kwargs.get("obj") obj_grad args[1] if len(args)>1 else kwargs.get("obj_grad") It "obj_expr" in kwargs: if isinstance(args[0], Callable)...

Reduce time it takes to run the examples

10

Here is the current timing from a clean build: ``` computation time summary: - ../examples-gallery/plot_pendulum_swing_up_variable_duration.py: 110.06 sec 0.0 MB - ../examples-gallery/plot_drone.py: 75.58 sec 0.0 MB - ../examples-gallery/plot_two_link_pendulum_on_a_cart.py: 75.11 sec 0.0...

Links to uses of opty

9

I'm not sure if many people are using opty but I just found one case, so I figured I'd open an issue to just track these if they start popping...

All assumptions applied to functions of time should be transferred to their discrete versions

1

The generation of discrete variables looks like: ```python self.previous_discrete_state_symbols = \ tuple([sm.Symbol(f.__class__.__name__ + 'p', real=True) for f in self.state_symbols]) ``` This sets a `real=True` assumption on each new discrete symbol...

Support variable time with `create_objective_function()`

4

We now have variable time step support but it will not work with the current `create_objective_function()`.

It would be helpful to have something like: ``` Problem().parse_free(solution) ``` then you wouldn't have to pass in all the extra args to the on in utils.py.

Maybe this should be an optional dependency. Investigate more.