NamedTrajectories.jl
NamedTrajectories.jl is a package for working with trajectories of named variables. It is designed to be used with QuantumCollocation.jl and IterativeLearningControl.jl.
Notice!
This package is under active development and issues may arise -- please be patient and report any issues you find!
Installation
NamedTrajectories.jl is now registered! Install with
using Pkg
Pkg.add(NamedTrajectories)
Usage
Users can define NamedTrajectory
types which have lots of useful functionality. For example, you can access the data by name or index. In the case of an index, a KnotPoint
is returned which contains the data for that timestep.
using NamedTrajectories
# define number of timesteps and timestep
T = 10
dt = 0.1
# build named tuple of components and data matrices
components = (
x = rand(3, T),
u = rand(2, T),
)
# build trajectory
traj = NamedTrajectory(components; timestep=dt, controls=:u)
# access data by name
traj.x # returns 3x10 matrix of x data
traj.u # returns 2x10 matrix of u data
z1 = traj[1] # returns KnotPoint with x and u data
z1.x # returns 3 element vector of x data at timestep 1
z1.u # returns 2 element vector of u data at timestep 1
traj.data # returns data as 5x10 matrix
traj.names # returns names as tuple (:x, :u)
# simple build in plotting
plot(traj)
This script generates the following plot as demonstrated in demo.ipynb
Plotting
See plotting function in plotting.jl for more details.
Documentation coming soon!