Installation

PyTrajOpt uses Poetry for robust dependency management and packaging. You can install the framework directly from GitHub or set it up locally for development.

Option 1: Install Directly from GitHub via Pip¶

If you want to quickly install the package into your current Python environment without cloning the repository:

pip install git+https://github.com/sandeep026/pytrajopt.git

Option 2: Install Directly from GitHub via Poetry¶

To add PyTrajOpt as a dependency in another Poetry-managed project directly from the remote repository:

poetry add git+https://github.com/sandeep026/pytrajopt.git

Option 3: Local Installation for Development (Clone & Poetry)¶

If you want to run the provided examples or contribute to the source code:

1. Clone the repository:

   git clone https://github.com/sandeep026/pytrajopt.git
   cd pytrajopt
   

2. Install dependencies: Poetry will automatically read the pyproject.toml configuration, resolve the dependencies (such as CasADi, Pydantic, NumPy, and Matplotlib), and set up a dedicated virtual environment:

poetry install

1. Activate the virtual environment:

   poetry shell