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**Submitting author:** @Aravind-Sundararajan (Aravind Sundararajan)
**Repository:** https://github.com/Aravind-Sundararajan/MocoExtendProblem
**Branch with paper.md** (empty if default branch):
**Ver…
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The direct collocation method *is* the controller. Should we let models have their own controllers, and treat direct collocation as just another controller?
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I'm not sure if many people are using opty but I just found one case, so I figured I'd open an issue to just track these if they start popping up.
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Hi!
I'm a student in Mechanical Engineer writing a sim for the Formula Student competition and we wanted to try out FatRop for our solver as ipopt as been a bit too slow for our liking lately. We thi…
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**Is your feature request related to a problem? Please describe.**
The following code accepts a `System` and `Context` then immediate converts them to use `AutoDiffXd`.
https://github.com/RobotLocom…
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See Aachen example `ex2_direct_collocation.py`
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**Is your feature request related to a problem? Please describe.**
The following generic constraint evaluation in the `IpoptSolver_NLP` class:
https://github.com/RobotLocomotion/drake/blob/84f4fc5…
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See:
- Betts and Huffman 1999 Exploiting sparsity in the direct transcription method for optimal control and
- Patterson and Rao 2012 Exploiting sparsity in direct collocation pseudospectral metho…
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If we frame our approach as doing "Uncertainty-aware Planning with Learned dynamics", we can broadly classify different methods
1. Choice of gradient estimation: First vs. Zeroth-order.
- fir…
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Resampling and interpolating TimeSeriesTables has become vital in the direct collocation work. Right now, I convert to a Storage to do the resampling, or create a GCVSplineSet directly. @aseth1 can we…