MatthewPeterKelly / MatthewPeterKelly/OptimTraj
Using OptimTraj for Nonlinear MPC
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- Dominant language
- MATLAB
- Stars
- 703
- Forks
- 219
- PR merge metrics
- No merged PRs in 30d
Description
Hi! In your opinion, is it possible to use OptimTraj for Nonlinear MPC instead of nlmpc toolbox of MATLAB? If yes, I would like to remove the rombergQuadrature to speed up the code. Does this affect the final solution? From the source code, it doesn't seem to me.
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 tracing the source code paths involving OptimTraj, nonlinear MPC, and rombergQuadrature; no specific files or tests are named. Compare the integration behavior with MATLAB's nlmpc toolbox and determine whether removing rombergQuadrature changes the final solution or only runtime. Done means establishing that behavior with a reproducible comparison, or documenting why the change is unsafe.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- matlab
- Domain
- performance, tooling
- Issue type
- Refactor
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100