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 = [0.9628175240473713 0.3487349603966 … 0.6097651084688113 0.1624714001595805; 0.013306912633498591 0.6774438750446986 … 0.33347149967314493 0.5859441609043685; 0.8384223337590788 0.6700460098253304 … 0.564242121436599 0.3919177145913163], u = [0.41559161226644303 0.42038825033973015 … 0.8580970018915984 0.0665648417742346; 0.9889923080767276 0.9192976054727785 … 0.024770610926479586 0.5692319902643868], 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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