We are excited to announce the initial release of THorPy (Trajectory and MPC for Python), version 1.0.0! THorPy is a powerful Python package designed to facilitate trajectory generation and high level control for hopper rockets. In this inaugural release, we have incorporated a trajectory generation algorithm and a Model Predictive Controller (MPC) to enable precise trajectory tracking.
Key Features in THorPy v1.0.0:
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Trajectory Generation: THorPy provides a sophisticated trajectory generation algorithm that allows you to define and compute complex motion paths without hardware constraints violation.
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Model Predictive Controller (MPC): To ensure accurate tracking of generated trajectories, THorPy includes a powerful MPC controller. MPC is a state-of-the-art control technique that optimizes control inputs over a finite time horizon, making it ideal for applications where precise control is crucial.