Optimal Trajectory Generation in Table Tennis
This repository explores two different optimal control strategies in table tennis and compares them to an existing Virtual Hitting Plane (VHP) based method.
We use nonlinear (in)equality constrained optimization to generate table tennis striking (and returning) 3rd order polynomials in joint space.
We use the NLOPT toolbox to run the constrained nonlinear optimizations: http://ab-initio.mit.edu/wiki/index.php/NLopt
Further instructions are found in the Doxygen generated documentation.