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bench: compare OrthogonalCollocation to other TranscriptionMethod #330

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franckgaga merged 1 commit into from
Mar 5, 2026
Merged

bench: compare OrthogonalCollocation to other TranscriptionMethod #330

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12 changes: 5 additions & 7 deletions src/controller/transcription.jl
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Expand Up @@ -153,12 +153,10 @@ and ``\mathbf{k}_i(k+j)`` is the deterministic state prediction for the ``i``th
point at the ``j``th stage/interval/finite element (details in Extended Help). The `roots`
keyword argument is either `:gaussradau` or `:gausslegendre`, for Gauss-Radau or
Gauss-Legendre quadrature, respectively. See [`MultipleShooting`](@ref) docstring for
descriptions of `f_threads` and `h_threads` keywords.

This transcription computes the predictions by enforcing the collocation and continuity
constraints at the collocation points. It is efficient for highly stiff systems, but
generally more expensive than the other methods for non-stiff systems. See Extended Help for
more details.
descriptions of `f_threads` and `h_threads` keywords. This transcription computes the
predictions by enforcing the collocation and continuity constraints at the collocation
points. It is efficient for highly stiff systems, but generally more expensive than the
other methods for non-stiff systems. See Extended Help for more details.

!!! warning
The built-in [`StateEstimator`](@ref) will still use the `solver` provided at the
Expand All @@ -178,7 +176,7 @@ this transcription method (sparser formulation than [`MultipleShooting`](@ref)).
"optimal" for approximating the state trajectories with polynomials of degree ``n_o``.
The method then enforces the system dynamics at these points. The Gauss-Legendre scheme
is more accurate than Gauss-Radau but only A-stable, while the latter being L-stable.
See [`con_nonlinprogeq!`](@ref) for details on the implementation.
See [`con_nonlinprogeq!`](@ref) for implementation details.
"""
struct OrthogonalCollocation <: CollocationMethod
h::Int
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