MatthewPeterKelly/OptimTraj

Add support for Backwards Euler integration method

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#47 opened on May 5, 2021

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good first issue

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Description

One key feature in OptimTraj is the ability to compare different collocation methods. There is currently support for Hermite--Simpson collocation and trapezoidal collocation, as well as 4th-Order Runge--Kutta multiple shooting. It would be nice to add support for additional methods, and an good next step would be Backwards Euler collocation.

This feature could be implemented by copy-pasting the trapezoid.m file and switching it over to use backwards Euler](https://en.wikipedia.org/wiki/Backward_Euler_method) integration. The might be a few other details to work out, such as adding support to the top-level interfaces for the new method and also adding an example to show how to use the new method.

Contributor guide

Research direction
Copy the trapezoid.m file and modify it to implement backward Euler integration. Also update the top level interface and add an example to demonstrate usage.
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.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Fresh
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
Git
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
80