MatthewPeterKelly / MatthewPeterKelly/OptimTraj
Add support for Backwards Euler integration method
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- Dominant language
- MATLAB
- Stars
- 703
- Forks
- 219
- PR merge metrics
- No merged PRs in 30d
Description
One key feature in OptimTraj is the ability to compare different collocation methods. There is currently support for Hermite--Simpson collocation and trapezoidal collocation, as well as 4th-Order Runge--Kutta multiple shooting. It would be nice to add support for additional methods, and an good next step would be Backwards Euler collocation.
This feature could be implemented by copy-pasting the trapezoid.m file and switching it over to use backwards Euler](https://en.wikipedia.org/wiki/Backward_Euler_method) integration. The might be a few other details to work out, such as adding support to the top-level interfaces for the new method and also adding an example to show how to use the new method.
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 by reading trapezoid.m and the existing top-level interfaces for Hermite--Simpson, trapezoidal collocation, and Runge--Kutta methods. Implement the Backwards Euler collocation path, expose it through the top-level interfaces, and add an example demonstrating how to use it.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- matlab
- Domain
- tooling
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 45/100