MatthewPeterKelly / MatthewPeterKelly/OptimTraj
GPOPS-II Interpolation Function Handle returned by OptimTraj
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- MATLAB
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Description
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?
soln.interp.state = @(t)( interp1(tSoln',xSoln',t','pchip',nan)' );
soln.interp.control = @(t)( interp1(tSoln',uSoln',t','pchip',nan)' );
The formula for the GPOPS-II state is given in equation (25) of the GPOPS-II paper:
Patterson, Michael A., and Anil V. Rao. "GPOPS-II: A MATLAB software for solving multiple-phase optimal control problems using hp-adaptive Gaussian quadrature collocation methods and sparse nonlinear programming." ACM Transactions on Mathematical Software (TOMS) 41.1 (2014): 1.
Contributor guide
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start with gpopsWrapper.m and inspect the soln.interp.state and soln.interp.control handles that call interp1 with pchip. Read equation (25) of the cited GPOPS-II paper, then determine whether the current interpolation matches the stated solution representation. Done requires a clear conclusion about the interpolation approach and any corresponding update to the function handles.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- matlab
- Domain
- tooling
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 20/100