/trajopt-util

Utilities for Numerical Trajectory Optimization

Primary LanguageMATLABMIT LicenseMIT

mutil MATLAB Utilities for Trajectory Optimization

See example implementations provided at https://github.com/purnanandelango/ct-scvx

scp Successive Convexification with Continuous-Time Constraint Satisfaction

  • scp.ctscvx_[...]_handparse_noparam

disc Discretization and Parameterization

  • First-order hold (FOH)
  • Zero-order hold (ZOH)
  • Finite-burn pulse (FBP)
  • Impulse

plant System Model

  • Double integrator with drag
  • 6-DoF rocket with drag

solvers Conic Optimization Solver

  • pipg Extrapolated Proportional Integral Projected Gradient Method

Requirements for node-only-constrained trajectory optimization