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 = [0.48953261143880045 0.3548005676155379 … 0.4924094462544032 0.5202883130318843; 0.12274861538493953 0.9351927583909835 … 0.2561152311908387 0.559269498568679; 0.31825992501479394 0.8587135476017547 … 0.12466425691540539 0.19558676352022997], u = [0.8241908769332149 0.7759099805547254 … 0.7101872920768759 0.7188730333247761; 0.8794774900120647 0.9630531815918765 … 0.5266114684869128 0.03610654092275911], 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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