A package for solving trajectory optimization problems in Julia.
This package solves optimal control problems using:
-
Iterative LQR (iLQR)
- Augmented Lagrangian method for nonlinear constraints
- Infeasible state trajectory initialization
- Minimum time
- Square root method for numerical conditioning
- Nonlinear cost functions
-
Direct Collocation (DIRCOL)
- IPOPT, SNOPT
-Autodifferentiation of nonlinear dynamics and constraint functions via ForwardDiff.jl
-Dynamics directly from a URDF via RigidBodyDynamics.jl