A C++ package for solving Trajectory Optimization problems using direct transcription and multiple shooting methods

This package provides a class to formulate a multi-phase continuous trajectory optimization problem including initial and terminal conditions, path constraints and bounds in the state and control trajectories.

This class automatically translate the continuous formulation into a discrete optimization problem and uses a (third-party) NLP solver to obtain a feasible and optimal solution.

Main features :

Direct transcription using Hermite-Simpson and Trapezoidal interpolation
Direct Multiple Shooting
Interface with and Snopt
Multiple phase TO problem can be defined
Hybrid and Discontinuous Dynamics

Contributors

This project is led by Diego Pardo (core developer) and contains knowledge and expertise from the Agile and Dexterous Robotics Lab at ETH Zürich

Collaborators:

Michael Neunert
Harsoveet Singh
Lukas Möller
Alexander Winkler
Bob Hoffmann

Contact

Diego Pardo depardo(at)ethz(dot)ch