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MatthewPeterKelly / OptimTraj

A trajectory optimization library for Matlab
MIT License
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Is the Runge-Kutta integrator in the OptimTraj multiple shooting method vectorized for greater speed and efficiency? #17

Closed stumarcus314 closed 7 years ago

stumarcus314 commented 7 years ago

Is the Runge-Kutta integrator in the OptimTraj multiple shooting method vectorized for greater speed and efficiency?

MatthewPeterKelly commented 7 years ago

The Runge-Kutta method is vectorized as much as is possible. This makes it a bit harder to read, but provides a significant speed improvement. That being said, RungeKutta can be much slower than the other methods because the sequence of sub-step evaluations in RungeKutta cannot be vectorized, since each sub-step depends on the previous sub-step.