enhancementhelp wanted
説明
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).