Collocation methods for second or higher order systems
Brief explanation of the contents of each file:
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analysis.py: Functions dedicated to analysis and post-processing of obtained solutions.
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casadi.py: Tools and functions dedicated to operate with and convert to Casadi objects. Also contains a version of the sympy2casadi function adapted from Joris Gillis: https://gist.github.com/jgillis/80bb594a6c8fcf55891d1d88b12b68b8
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numpy.py: Tools and functions designed to operate with and convert to NumPy arrays.
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opti.py: Functions and classes designed to create, contain and interface easily with a Casadi Opti problem.
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piecewise.py: A collection of functions that describe different piecewise polynomial schemes, expressed both with explicit and implicit dynamics formulations. Related interpolation and auxiliary functions are also defined here.
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pseudospectral.py: Functions needed to operate with pseudospectral collocation schemes. In order to keep the best accuracy in interpolations, barycentric formulas are constructed.
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robots.py: Functions designed to operate and interface with models from the Robotic Toolbox by P. Corke.
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symbolic.py: Functions and classes that operate with SymPy symbolic objects, including auxiliary functions, functions that convert expressions between different notations, and classes that inherit from
sympy.physics.mechanics.LagrangesMethodand expand it in various ways.