A library of solvers for trajectory optimization problems written in Julia. Currently, the following methods are implemented with a common interface:
ALTRO (Augmented Lagrangian TRajectory Optimizer): A novel fast solver for trajectory optimization that features:
- General nonlinear cost functions, including minimum time problems
- General nonlinear state and input constraints
- Infeasible initialization
- Square-root methods for improved numerical conditioning
Direct Collocation (DIRCOL)
- Interfaces to Nonlinear Programming solvers (e.g., Ipopt, SNOPT) via MathOptInterface
All methods utilize Julia's extensive autodifferentiation capabilities via ForwardDiff.jl so that the user does not need to specify derivatives of dynamics, cost, or constraint functions, and dynamics can be computed directly from a URDF file via RigidBodyDynamics.jl.