Deferred Decision Trajectory Optimization

Quadrotor motion planning examples

`ddto-micp`

discrete-time linear system (3D double integrator)
convex path constraints: thrust pointing, thrust upper bound and lower bound (convexified)

`ddto-qcvx`

discrete-time linear system (3D double integrator)
convex path constraints: thrust pointing, thrust upper bound and lower bound (convexified)

`ddto-scp`

continuous-time nonlinear system (3D double integrator with drag)
nonconvex path constraints: obstacle avoidance, speed upper bound, thrust pointing, thrust upper and lower bound