Trajectory Optimization Tools for Robotics
MILQR Algorithm - Non-linear trajectory-optimisation with explicit handling of topology of SO(3) group (3D Rotations) Highly efficient with active-set method (projected-Newton) for handling input constraints (ILQR is DDP with first order expansion of dynamics)
TODO: NLP Tools for direct trajectory optimzation (colocation, multi-shooting and pseudo-spectral) interfacing various NLP (non-linear programming) solvers.