trajoptlib

A library for trajectory optimization using direct transcription approach.

Installation

Make sure you have

• CMake with version higher than 3.0
• Eigen3 installed somewhere (make sure CMake can find it)
• pybind11 install and cmake can find it (Do not use pip install. Use CMake to install from source. For Ubuntu 18.04, you can use apt-get install python-pybind11 to install it.)

Installation is simple.

0. You have to install pyoptsolver, which is located in lib/solver_interface; It is a separate tool for defining and solving optimization problems in Python using state-of-the-art nonlinear solvers. Please see instructions there.
1. Install requirements by pip install -r requirements.txt
2. Install package using pip, by pip install -e . or python setup.py install

Test

You can test a few simple examples. This is done by simply navigating to test folder in the main folder. And use python simpleDemo.py -grad. You can also explore other possible arguments. There is a rotor example which requires the following procedure:

1. Navigate to current directory. Make a directory for building mkdir build & cd build
2. Use standard CMake install commands: cmake .. & make & cd ..

If you did not perform step 1 and 2 in the installation guide, you won't be able to run the rotor example.

Documentation

Check https://paperstiger.github.io/trajOptLibDoc/index.html for documentations.