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Rapid-Design-of-Systems-Laboratory / beluga

General purpose indirect trajectory optimization
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Consolidate icrm and traditional into a single optimization method #161

Closed msparapa closed 5 years ago

msparapa commented 5 years ago

As it stands, ICRM only affects how control laws are handled. We can change this to just be an option into the optimization library. Then, moving forward, we can use a similar structure on how to handle path constraints, i.e. UTM or ICRM.

msparapa commented 5 years ago

@SeanMatthewNolan be aware that icrm no longer exists independently. I changed a few examples to show how you can use icrm control laws, like in 1-particle and 3-zermelo. Everything is now just inside of indirect.py aside from my phd stuff. By default, the control_method='pmp' which was the standard Bryson-Ho way from before.