MatthewPeterKelly / MatthewPeterKelly/OptimTraj
ADiGator for OptimTraj
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- Dominant language
- MATLAB
- Stars
- 703
- Forks
- 219
- PR merge metrics
- No merged PRs in 30d
Description
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 supply vectorized gradients and Hessians to GPOPS-II. Perhaps ADiGator could be integrated into OptimTraj so that OptimTraj can optionally use ADiGator to generate vectorized derivatives of the optimal control functions (e.g. dynamics, path objective, etc.). This would be very useful, as it is often very difficult to manually derive and implement vectorized gradients (and Hessians).
Contributor guide
No contributing guide indexed for this repository
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
The issue names no files, tests, or entry points. Start by reviewing OptimTraj's derivative interfaces and ADiGator's integration requirements, then determine the scope of optional vectorized derivative generation for dynamics, path objectives, and related functions; done would mean a defined, working integration with appropriate coverage.
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
- 25/100