DirectTrajOpt.jl

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DirectTrajOpt.jl provides abstractions and utilities for setting up and solving direct trajectory optimization problems of the form:

$$ \begin{align*} \underset{x_{1:N}, u_{1:N-1}}{\text{minimize}} \quad & J(x_{1:N}, u_{1:N-1}) \\ \text{subject to} \quad & f(x_{k+1}, x_k, u_k, \Delta t, t_k) = 0\\ & c_k(x_k, u_k) \geq 0 \\ & x_1 = x_{\text{init}} \\ \end{align*} $$

where $J(x_{1:N}, u_{1:N-1})$ is a user-defined cost function, $f(x_{k+1}, x_k, u_k, \Delta t, t_k)$ is an integrator funtion encoding the dynamics of the system, and $c_k(x_k, u_k)$ are user-defined constraints.

The underlying nonlinear solver is Ipopt.jl, which is a Julia interface to the Ipopt solver.