MatthewPeterKelly/OptimTraj

ADiGator for OptimTraj

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#25 opened on Sep 9, 2016

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enhancementhelp wanted

Description

ADiGator (https://sourceforge.net/projects/adigator/) is free, open-source MATLAB software that computes vectorized gradients (and even Hessians) via automatic differentiation. It was developed by the author of GPOPS-II to make it easier to supply vectorized gradients and Hessians to GPOPS-II. Perhaps ADiGator could be integrated into OptimTraj so that OptimTraj can optionally use ADiGator to generate vectorized derivatives of the optimal control functions (e.g. dynamics, path objective, etc.). This would be very useful, as it is often very difficult to manually derive and implement vectorized gradients (and Hessians).

Contributor guide

Tech stack
None
Domain
backend
Issue type
feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
4
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
over 1 week
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.
mostly clear
Prerequisites
MATLABOptimTraj usageautomatic differentiationADiGator fundamentals
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
25
Research direction
Examine OptimTraj's derivative computation code (likely in trajectory optimization functions) and ADiGator's MATLAB interface to generate vectorized gradients. Identify key functions like dynamics and path objective that need derivative support. Test integration on simple example problems. Check existing issues or discussion for more details.
ADiGator for OptimTraj · MatthewPeterKelly/OptimTraj#25 | Good First Issue