Open brocksam opened 1 year ago
Pycollo has two backends available for forming the OCP, deriving OCP functions and derivatives, and interfacing with the NLP solver. These are powered by CasADi and SymPy. At some point after https://github.com/brocksam/pycollo/commit/24eb461975834279ecad098a58b9cb71b4a314a3, integration with the SymPy backend stopped working and so currently only the CasADi backend.
To reintegrate the SymPy backend, the following issues need to be addressed (to be updated with relevant issues):
sympy.physics.mechanics.dynamicsymbols
Pycollo has two backends available for forming the OCP, deriving OCP functions and derivatives, and interfacing with the NLP solver. These are powered by CasADi and SymPy. At some point after https://github.com/brocksam/pycollo/commit/24eb461975834279ecad098a58b9cb71b4a314a3, integration with the SymPy backend stopped working and so currently only the CasADi backend.
To reintegrate the SymPy backend, the following issues need to be addressed (to be updated with relevant issues):
sympy.physics.mechanics.dynamicsymbolsto be used as state and control variables in OCP definitions (https://github.com/brocksam/pycollo/issues/64).