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.

Building Documentation

This package uses a Documenter config that is shared with many of our other repositories. To build the docs, you will need to run the docs setup script to clone and pull down the utility.

# first time only
./docs/get_docs_utils.sh   # or ./get_docs_utils.sh if cwd is in ./docs/

To build the docs pages:

julia --project=docs docs/make.jl

or editing the docs live:

julia --project=docs
> using LiveServer, Piccolo, Revise
> servedocs(literate_dir="docs/literate", skip_dirs=["docs/src/generated", "docs/src/assets/"], skip_files=["docs/src/index.md"])

Note:servedocs needs to watch a subset of the files in the docs/ folder. If it watches files that are generated on a docs build/re-build, servedocs will continuously try to re-serve the pages.

To prevent this, ensure all generated files are included in the skip dirs or skip files args for servedocs.

For example, if we forget index.md like so:

julia --project=docs
> using LiveServer, Piccolo, Revise
> servedocs(literate_dir="docs/literate", skip_dirs=["docs/src/generated", "docs/src/assets/"])

it will not build and serve.

"It seems that perfection is attained not when there is nothing more to add, but when there is nothing more to take away." - Antoine de Saint-Exupéry