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Tutorials for SCPToolbox.jl by ACL

To run the tutorial notebooks out-of-the-box:

  • (Binder) Binder
  • (GESIS Binder) Binder

Rendered notebooks and slides

Part Notebooks Slides Description
0 p0_welcome.ipynb p0_welcome.slides.html Introduction
1 p1_clp.ipynb p1_clp.slides.html Conic linear programs (CLPs)
2 p2_scp.ipynb p2_scp.slides.html Simple sequential convex programming (SCP) example
3 p3_dubin.ipynb p3_dubin.slides.html Dubin's car trajectory optimization
4 p4_rocket.ipynb Rocket-landing guidance (self-guided tutorial)
4* p4_rocket_solutions.ipynb Rocket-landing guidance (solutions)

To set up a complete local installation (including SCPToolbox.jl) follow these steps:

  • Install Julia v1.7.1, Python 3.10, matplotlib 3.5.1, and ffmpeg.
  • Clone the master branch of SCPToolbox.jl from here into ~/tmp.
$ cd ~/tmp
$ git clone https://github.com/UW-ACL/SCPToolbox.jl.git
$ cd SCPToolbox.jl
$ git checkout master
  • Clone this tutorial repository into ~/tmp and install TeX-related packages for plotting scripts in SCPToolbox.jl:
$ cd ../
$ git clone https://github.com/UW-ACL/SCPToolbox_tutorial.git
$ cd SCPToolbox_tutorial
$ xargs sudo apt-get install <apt.txt
  • Activate the tutorial.jl package environment in Julia Pkg REPL, add SCPToolbox.jl as a dependency and precompile:
$ cd src
julia> ]
(@v1.7) pkg> activate ..
(tutorial) pkg> dev ../../SCPToolbox.jl/
(tutorial) pkg> precompile
  • Re-activate the base Julia environment and install/build the IJulia package to obtain JupyterLab:
(tutorial) pkg> activate
(@v1.7) pkg> add IJulia
(@v1.7) pkg> build IJulia
  • Launch JupyterLab from Julia REPL. (Conda and JupyterLab installation (self-contained in Julia) will be automatically prompted if they don't exist already.)
julia> jupyterlab(dir=pwd())

To generate slides from a Jupyter notebook:

Slide creation rubric

Slide Menu option Command
New Slide Type Slide
Persistent Slide Type Fragment
Hide input only Add Tag hide-input
Hide output only Add Tag hide-output
Hide entire cell Slide Type Skip

Example command

jupyter nbconvert --output-dir='slides' p1_clp.ipynb --to slides --no-prompt --TagRemovePreprocessor.remove_input_tags={\"hide-input\"} --TagRemovePreprocessor.remove_all_outputs_tags={\"hide-output\"} --post serve