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OptimTraj is a MATLAB toolbox for solving trajectory optimization problems. It supports direct collocation, shooting methods, and pseudospectral methods for finding optimal control inputs and system trajectories. It is useful for robotics, aerospace, biomechanics, and any domain requiring time-optimal or energy-optimal motion planning.
Features
- Supports multiple optimization methods (collocation, shooting, pseudospectral)
- Works with nonlinear dynamics and constraints
- Provides visualization and debugging tools
- Customizable cost functions and boundary conditions
- Compatible with MATLAB’s built-in optimization solvers
- Detailed documentation and example problems included
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MIT LicenseFollow OptimTraj
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