Optimal control solver using direct collocation

casadi / casadi

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

http://casadi.org

GNU Lesser General Public License v3.0

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Optimal control solver using direct collocation #303

Closed casadibot closed 11 years ago

casadibot commented 11 years ago

We have now got some experience in using direct collocation for solving optimal control problems. We should try make one such implementation be conferment with the OCPSolver base class and move it to C++.

Created by jaeandersson at: 2011-12-15T17:13:33 Last updated at: 2011-12-15T17:13:33

jaeandersson commented 11 years ago

I'll close this issue, although the class has some way to go before it is really useful.

ghorn commented 11 years ago

Perhaps some of the work from https://github.com/ghorn/rawesome should be ported to C++ and merged back into casadi.

jaeandersson commented 11 years ago

The "black-box" OCP solver DirectCollocation, along with DirectMultipleShooting and now DirectSingleShooting are not so much intended for production as for benchmarking. So I don't think they need to be much more general then they are. It would be good to gather a collection of test problems for them, though.