Trajectory Optimization Library

Setup

Third-Party dependencies that will need to be needed

1. Ipopt
2. CMake
3. GNUPlot (Optional, used for trajectory visualization)

A script setup.sh has been provided to install these dependencies on a Mac-based system. It will install Homebrew and use it to install these dependencies. To execute it, run chmod +x setup.sh && ./setup.sh.

Linux support has not been added to the script yet.

How to use TrajectoryOptimization

TrajectoryOptimization can be easily used as a git submodule in any other CMake-based project. Let's walk through integrating TrajectoryOptimization into an existing source project.

1. cd into your project directory, git init if it isn't already a git repository.
2. mkdir -p lib && git submodule add [insert this project's clone URL (https/ssh)] lib/trajectoryOptimization
3. If you don't already use CMake, run touch CMakeLists.txt. Insert cmake_minimum_required(VERSION 3.8) as the first line.
4. Insert these into your CMakeLists.txt to import and link the TrajectoryOptimization::TrajectoryOptimizationLib target:

add_subdirectory(lib/trajectoryOptimization)
add_executable([yourExecutableName] [yourSourceFiles])
target_link_libraries([yourExecutableName]
  PUBLIC
    TrajectoryOptimization::TrajectoryOptimizationLib
)

6. mkdir build && cd build && cmake ..
7. make
8. ./[yourExecutableName]

Now you can build software using TrajectoryOptimization!

To ever recompile and rerun, just cd into build/ and run make && ./[yourExecutableName].

Running tests

To build tests, run cmake like this: cmake -Dtraj_opt_build_tests=ON ... Then cd into lib/trajectoryOptimization and run ctest.

Running samples

To build samples, run cmake like this: cmake -Dtraj_opt_build_samples=ON ... Then cd into lib/trajectoryOptimization and run ./trajectoryOptimizationSample. The sample currently optimizes a 3D trajectory. Inspect the source for more information and to learn about usage.

Notes about Mujoco

Mujoco support is currently baked into this project, but disabled.

To enable building/linking it:

1. Uncomment the relevant lines in CMakeLists.txt that are marked for Mujoco.
2. Copy this file to cmake/LocalProperties.cmake and replace the FIXME with the path to your Mujoco installation.