[Roadmap] CTIndirect — system to define shooting equations and indirect solvers

[ocots]

Objective

Create a new package (CTIndirect) that provides a system to define shooting equations in a simpler way than manually writing them. The associated solvers (Newton, BVP solvers, etc.) will live in CTSolvers.jl.

Motivation

Currently, indirect shooting requires manually writing the shooting function, which is tedious and error-prone. A dedicated system would greatly simplify the workflow. The following examples illustrate the current approach and motivate this work:

• Goddard — Indirect shooting
• Double integrator (energy) — Indirect method
• Double integrator (time) — Indirect method
• Control free — Indirect method
• Control and variable — Indirect
• Singular control — Indirect shooting
• State constraint — Indirect method

Next steps

A brainstorming is needed to decide:

• What to create in CTIndirect vs CTSolvers
• Which solvers to implement (Newton, BVP solvers, etc.)
• How to interface with CTFlows and CTLie

References

• Design document
• CTSolvers.jl
• Roadmap comment