MatthewPeterKelly/OptimTraj

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A trajectory optimization library for Matlab

Stars: 703
Forks: 219
Open beginner issues: 0
Indexed issues: 29

Dominant language: MATLAB
License: MIT
Last GitHub push: Jun 6, 2023
Latest indexed: Sep 19, 2026
Contributing guide: No contributing guide
Code of conduct: No code of conduct
Beginner labels: help wanted good first issue
PR merge metrics: No merged PRs in 30d

Beginner friendly Everything

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29 open issues indexed

Using OptimTraj for Nonlinear MPC Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#60 · Opened Oct 8, 2025
Best method to add path points Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#58 · 2 comments · Opened Jan 16, 2024
Unrecognized field name Open

Difficulty 3/5 1-2 days Newbie friendliness 35/100

MatthewPeterKelly/OptimTraj#55 · 1 comment · Opened May 31, 2023
Acrobot demo throws an error: Open

Difficulty 3/5 1-2 days Newbie friendliness 35/100

MatthewPeterKelly/OptimTraj#52 · Opened Feb 23, 2022
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)) Open

Difficulty 3/5 1-2 days Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#51 · 1 comment · Opened Feb 21, 2022
How to add a terminal cost to the objective function Open

Difficulty 4/5 3-5 days Newbie friendliness 35/100

MatthewPeterKelly/OptimTraj#48 · Opened Aug 11, 2021
Add support for Backwards Euler integration method Open

good first issue

Difficulty 4/5 3-5 days Newbie friendliness 45/100

MatthewPeterKelly/OptimTraj#47 · Opened May 5, 2021
Specifying dynamics on a lower dimension Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#45 · 1 comment · Opened Dec 18, 2020
Error when running toyCar in octave Open

wontfix

Difficulty 4/5 3-5 days Newbie friendliness 35/100

MatthewPeterKelly/OptimTraj#42 · 3 comments · Opened Aug 29, 2020
Generate trapezoidal collocation constraints Open

Difficulty 5/5 Over a week Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#41 · 8 comments · Opened Mar 20, 2020
Error with running quadRotor2d demo Open

Difficulty 3/5 1-2 days Newbie friendliness 35/100

MatthewPeterKelly/OptimTraj#38 · 1 comment · Opened Dec 7, 2019
Problem with initial guess P.x0 Open

Difficulty 4/5 3-5 days Newbie friendliness 35/100

MatthewPeterKelly/OptimTraj#36 · 3 comments · Opened Sep 2, 2018
Clean up installation Open

enhancement good first issue

Difficulty 4/5 3-5 days Newbie friendliness 45/100

MatthewPeterKelly/OptimTraj#33 · Opened Feb 3, 2018
Add support for other NLP solvers Open

enhancement help wanted

Difficulty 5/5 Over a week Newbie friendliness 28/100

MatthewPeterKelly/OptimTraj#29 · Opened Jan 22, 2017
DIDO and PROPT Integration with OptimTraj Open

enhancement help wanted

Difficulty 5/5 Over a week Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#27 · 1 comment · Opened Sep 9, 2016
ADiGator for OptimTraj Open

enhancement help wanted

Difficulty 5/5 Over a week Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#25 · 1 comment · Opened Sep 9, 2016
Hessians Open

question

Difficulty 5/5 Over a week Newbie friendliness 30/100

MatthewPeterKelly/OptimTraj#24 · 1 comment · Opened Sep 9, 2016
Costate Estimates Open

enhancement help wanted

Difficulty 5/5 Over a week Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#23 · 1 comment · 1 reaction · Opened Sep 9, 2016
More NLP Solver Options for OptimTraj Open

enhancement

Difficulty 4/5 3-5 days Newbie friendliness 35/100

MatthewPeterKelly/OptimTraj#22 · 1 comment · Opened Sep 9, 2016
Are the OptimTraj chebyshev and multiCheb methods able to exploit user-supplied gradients of the pathObjective, dynamics, etc...? Open

enhancement help wanted

Difficulty 3/5 1-2 days Newbie friendliness 35/100

MatthewPeterKelly/OptimTraj#21 · 1 comment · Opened Sep 9, 2016
GPOPS-II Interpolation Function Handle returned by OptimTraj Open

enhancement help wanted question

Difficulty 5/5 Over a week Newbie friendliness 20/100

MatthewPeterKelly/OptimTraj#20 · 4 comments · Opened Sep 9, 2016
Bug (?) in OptimTraj wrapper for GPOPS? Open

bug help wanted

Difficulty 4/5 3-5 days Newbie friendliness 35/100

MatthewPeterKelly/OptimTraj#19 · 7 comments · Opened Sep 9, 2016
What is the deal with the undocumented MultiCheb method in OptimiTraj? Open

enhancement help wanted question

Difficulty 2/5 1-3 hours Newbie friendliness 35/100

MatthewPeterKelly/OptimTraj#16 · 1 comment · 1 reaction · Opened Sep 9, 2016
Portability of Interpolation Open

bug

Difficulty 4/5 3-5 days Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#11 · 1 comment · Opened May 4, 2016
Mesh analysis for Chebyshev method Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#10 · Opened Apr 3, 2016
Support for multiple-phase problems Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#9 · 2 comments · 1 reaction · Opened Apr 3, 2016
New Demo: balancing an inverted pendulum in space Open

enhancement help wanted

Difficulty 5/5 Over a week Newbie friendliness 30/100

MatthewPeterKelly/OptimTraj#8 · Opened Feb 24, 2016
Direct Collocation on an arbitrary grid Open

enhancement

Difficulty 5/5 Over a week Newbie friendliness 25/100

MatthewPeterKelly/OptimTraj#4 · Opened Jan 19, 2016
Improve input validation Open

enhancement good first issue

Difficulty 3/5 1-2 days Newbie friendliness 35/100

MatthewPeterKelly/OptimTraj#1 · 2 comments · Opened Aug 11, 2015

MatthewPeterKelly/OptimTraj

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