DirectTrajectoryOptimization.jl

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DirectTrajectoryOptimization.jl

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A Julia package for constrained trajectory optimization using direct methods.

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# DirectTrajectoryOptimization.jl
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A Julia package for solving constrained trajectory optimization problems:

```
minimize        cost_T(state_T; parameter_T) + sum(cost_t(state_t, action_t; parameter_t))
states, actions
subject to      dynamics_t(state_t, action_t, state_t+1; parameter_t),         t = 1,...,T-1 
                constraint_t(state_t, action_t; parameter_t) {<,=} 0,          t = 1,...,T
                state_lower_t < state_t < state_upper_t,                       t = 1,...,T 
                action_lower_t < action_t < action_upper_t,                    t = 1,...,T-1.
```

with direct trajectory optimization.

Fast and allocation-free gradients and sparse Jacobians are automatically generated using [Symbolics.jl](https://github.com/JuliaSymbolics/Symbolics.jl) for user-provided costs, constraints, and dynamics. The problem is solved with [Ipopt](https://coin-or.github.io/Ipopt/).

## Installation
```
Pkg.add("DirectTrajectoryOptimization")
```

## Quick Start

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