Tutorial

More information on trep can be found on the trep project website.

This tutorial is meant to be an introduction to trep by walking the reader through extended examples. This tutorial will use a Python shell known as IPython for illustrating the organization of trep’s components. It is recommended that IPython is downloaded and installed, although the tutorial is still useful without access to IPython.

Contents:

• Trep “Hello World”
  • Import the trep module into python
  • Create a new instance of a trep system
  • Visualize the system with trep’s visualization tools
  • trepHelloWorld.py code
• Create a pendulum
  • Import necessary Python modules
  • Build a pendulum system
  • Add forces to the system
  • Create and initialize the variational integrator
  • Simulate the system forward
  • Visualize the system in action
  • pendulumSystem.py code
• Design linear feedback controller
  • Create pendulum system
  • Create discrete system
  • Design linear feedback controller
  • Simulate the system forward
  • Visualize the system in action
  • linearFeedbackController.py code
• Design energy shaping swing-up controller
  • Create pendulum system
  • Design energy shaping swing-up controller
  • Simulate the system forward
  • Visualize the system in action
  • Complete code
• Calculate optimal switching time
  • Create pendulum system
  • Create cost
  • Angle utility functions
  • Simulate function
  • Optimize
  • Simulate with optimal switching time
  • Visualize the system in action
  • optimalSwitchingTime.py code