MatthewPeterKelly/OptimTraj

Are the OptimTraj chebyshev and multiCheb methods able to exploit user-supplied gradients of the pathObjective, dynamics, etc...?

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#21 opened on Sep 9, 2016

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enhancementhelp wanted

Description

The trapezoid, hermiteSimpson, and rungeKutta methods in OptimTraj are able to exploit user-supplied gradients of the pathObjective, dynamics, etc... Are the OptimTraj chebyshev and multiCheb methods also able to exploit user-supplied gradients?

Contributor guide

Tech stack
None
Domain
backend
Issue type
research
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
under 1 hour
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
clear
Prerequisites
understanding of trajectory optimizationsome MATLAB experience
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
30
Research direction
Explore the OptimTraj source code, specifically the chebyshev and multiCheb method implementations, to determine if they support user supplied gradients. Look for function signatures and documentation within the codebase. If not, consider contributing a feature to add this capability.