Parameters

NamedTrajectory.jl support passing parameters as a Tuple when construct a NamedTrajectory.

using NamedTrajectories

First we need to define number of timesteps and timestep

T = 10
dt = 0.1

0.1

then build named tuple of components and data matrices.

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

(x = [0.7299263932953574 0.00657075754781189 … 0.3671330092202594 0.8697198983963195; 0.4975296349179621 0.756125660354542 … 0.20307550568657218 0.7171098819311523; 0.49511854217683515 0.8764170450203002 … 0.8475723098972147 0.7686856124981694], u = [0.7201722116981276 0.9443205002119239 … 0.6489709611725054 0.8185603061163528; 0.5224331931846276 0.5409740086229672 … 0.8038355213009665 0.9042850323681102], 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

some global params as a NamedTuple

params = (
    α = rand(1),
    β = rand(1)
)

(α = [0.832693440905731], β = [0.27414175718477996])

we can now create a NamedTrajectory object with parameters specification.

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

T = 10, (x = 1:3, u = 4:5, → Δt = 6:6), (α = 1:1, β = 2:2)

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