Constructors

To construct a NamedTrajectory using NamedTrajectories.jl, we simply need to utilize the NamedTrajectory constructor.

using NamedTrajectories

# define number of timesteps and timestep
T = 10
dt = 0.1

0.1

build named tuple of components and data matrices.

components = (
    x = rand(3, T),
    u = rand(2, T),
    Δt = fill(dt, 1, T),
)

(x = [0.4388870333124213 0.6955746984733158 … 0.033506089114221815 0.8968678820878917; 0.16441654481749768 0.8634256136827109 … 0.7974822694566512 0.08165041257592753; 0.9638887204792574 0.12773033140250312 … 0.21348313878205682 0.16553579069835145], u = [0.30355647190543733 0.057746283435008094 … 0.037923688976173375 0.047483958135813076; 0.5377441037305568 0.8370730297246392 … 0.10890117460109883 0.7454674109513368], Δt = [0.1 0.1 … 0.1 0.1])

we must specify a timestep and control variable for the trajectory.

timestep = :Δt
control = :u

:u

we can now create a NamedTrajectory object.

traj = NamedTrajectory(components; timestep=timestep, controls=control)

T = 10, (x = 1:3, u = 4:5, → Δt = 6:6)

Construct NamedTrajectory from previous constructed one.

traj = NamedTrajectory(components, traj) # TODO: should this constructor be reimplemented for v0.4.0?

traj = NamedTrajectory(traj; components=(x=1:3, u=4:5, Δt=6:6))

T = 10, (x = 1:3, u = 4:5, → Δt = 6:6)

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