About: Design and implement a wrapper that will facilitate the construction of optimal control problems.
Details: The user will provide the main ingredients of the optimal control problem and the OCPMaker (or OCPBuilder) will construct a parametric optimisation problem. The main ingredients of an optimal control problem are:
the system dynamics, $x_{t+1} = F(x_t, u_t)$
the prediction horizon, $N$
the stage cost function, $\ell(x, u)$
the terminal cost function, $V_f(x)$
input constraints, $u_t \in U$
possible state-input constraints of the form $g(x_t, u_t) \leq 0$
set exclusion constraints, $x_t \notin C$
Additional context:: PR #284 has stalled; a fresh approach is required. The development will be in Python.
About: Design and implement a wrapper that will facilitate the construction of optimal control problems.
Details: The user will provide the main ingredients of the optimal control problem and the
OCPMaker(orOCPBuilder) will construct a parametric optimisation problem. The main ingredients of an optimal control problem are:Additional context:: PR #284 has stalled; a fresh approach is required. The development will be in Python.