MatthewPeterKelly / MatthewPeterKelly/OptimTraj
Support for multiple-phase problems
Nobody has claimed this yet.
- Dominant language
- MATLAB
- Stars
- 703
- Forks
- 219
- PR merge metrics
- No merged PRs in 30d
Description
As of now, TrajOpt can only solve single-phase trajectory optimization problems. The extension to multiple-phase problems isn't too hard, but it does require a bit of restructuring of the code base. Look-up GPOPS-II if you're curious about multiple-phase problems.
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
Start by locating the single-phase TrajOpt implementation and tracing how problems are represented and solved. Use GPOPS-II's multiple-phase problem model as background; done means the library can formulate and solve multiple-phase trajectory optimization problems without breaking existing single-phase use.
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