Here is the link to the writeup: hw4.pdf
Here is a link to some Matlab starter code: trajectory_optimization.m.
Here is a link to some Python starter code: trajectory_optimization.py.
(This code was graciously and anonymously provided by a former 16-811
student. Thank you!)
Here is a link to some alternate Python starter code: trajectory_optimization_alternate.py.
(This code was also graciously and anonymously provided by a former
16-811 student. Thank you as well!)
NOTE: 2D plots are fine for Problem 6, and are recommended.
Some students who also wish to plot in 3D have reported issues
using Python.
One year a student posted the following
workaround: 3Dplotting.py.
(Thank you!)
Another workaround may be to make the cost surface translucent, so the
path points become visible.
Here is a possibility:
ax3d.plot_surface(xx, yy, obs_cost.T, cmap=plt.get_cmap('coolwarm'), alpha=0.75)
You may wish to play with the alpha value to suit your tastes.
This code is supplied without warranty, as a helping hand from previous students in this course. ;-)