con = {0: [-0.8, 0.3], 1: [-2.0, 2.0]}
# now we create our Trajectory object and alter some method parameters via the keyword arguments
S = ControlSystem(f,
a,
b,
xa,
xb,
ua,
ub,
constraints=con,
kx=5,
use_chains=False)
# time to run the iteration
S.solve()
# the following code provides an animation of the system above
# for a more detailed explanation have a look at the 'Visualisation' section in the documentation
import sys
import matplotlib as mpl
from pytrajectory.visualisation import Animation
def draw(xt, image):
x = xt[0]
phi = xt[2]
car_width = 0.05
car_heigth = 0.02
# boundary values for the inputs
ua = [0.5*9.81*50.0/(cos(5/360.0*2*pi)), 0.5*9.81*50.0/(cos(5/360.0*2*pi))]
ub = [0.5*9.81*50.0/(cos(5/360.0*2*pi)), 0.5*9.81*50.0/(cos(5/360.0*2*pi))]
# create trajectory object
S = ControlSystem(f, a=0.0, b=3.0, xa=xa, xb=xb, ua=ua, ub=ub)
# don't take advantage of the system structure (integrator chains)
# (this will result in a faster solution here)
S.set_param('use_chains', False)
# also alter some other method parameters to increase performance
S.set_param('kx', 5)
# run iteration
S.solve()
# the following code provides an animation of the system above
# for a more detailed explanation have a look at the 'Visualisation' section in the documentation
import sys
import matplotlib as mpl
from pytrajectory.visualisation import Animation
def draw(xti, image):
x, y, theta = xti[0], xti[2], xti[4]
S = np.array( [ [0, 0.3],
[-0.1, 0.1],
[-0.7, 0],
[-0.1, -0.05],
[ 0, -0.1],
u1]
return ff
# system state boundary values for a = 0.0 [s] and b = 2.0 [s]
xa = [0.0, 0.0]
xb = [1.0, 0.0]
# constraints dictionary
con = {1 : [-0.1, 0.65]}
# create the trajectory object
S = ControlSystem(f, a=0.0, b=2.0, xa=xa, xb=xb, constraints=con, use_chains=False)
# start
x, u = S.solve()
# the following code provides an animation of the system above
# for a more detailed explanation have a look at the 'Visualisation' section in the documentation
import sys
import matplotlib as mpl
from pytrajectory.visualisation import Animation
def draw(xt, image):
x = xt[0]
car_width = 0.05
car_heigth = 0.02
x_car = x
xb = [1.0, 0.0]
# constraints dictionary
con = {1: [-0.1, 0.65]}
# create the trajectory object
S = ControlSystem(f,
a=0.0,
b=2.0,
xa=xa,
xb=xb,
constraints=con,
use_chains=False)
# start
x, u = S.solve()
# the following code provides an animation of the system above
# for a more detailed explanation have a look at the 'Visualisation' section in the documentation
import sys
import matplotlib as mpl
from pytrajectory.visualisation import Animation
def draw(xt, image):
x = xt[0]
car_width = 0.05
car_heigth = 0.02
x_car = x