Merge branch 'feature/interior_point/trajectory_adjustment' of bitbucket.org:leggedrobotics/ocs2_dev into feature/interior_point/trajectory_adjustment

Author: mayataka

ocs2_doc/docs/intro.rst

@@ -7,10 +7,11 @@ Introduction
 **S**\ witched **S**\ ystems (OCS2). The toolbox provides an efficient 
 implementation of the following algorithms:
 
-* **SLQ**\: Continuous-time domain DDP
-* **iLQR**\: Discrete-time domain DDP
+* **SLQ**\: Continuous-time domain constrained DDP
+* **iLQR**\: Discrete-time domain constrained DDP
 * **SQP**\: Multiple-shooting algorithm based on `HPIPM <href="https://github.com/giaf/hpipm"/>`__
-* **PISOC**\: Path integral stochastic optimal control
+* **IPM**\: Multiple-shooting algorithm based on nonlinear interior point method
+* **SLP**\: Sequential Linear Programming based on `PIPG <href="https://arxiv.org/abs/2009.06980"/>`__
 
 OCS2 handles general path constraints through Augmented Lagrangian or 
 relaxed barrier methods. To facilitate the application of OCS2 in robotic 

ocs2_doc/docs/overview.rst

@@ -9,10 +9,11 @@ Overview
 for **S**\ witched **S**\ ystems (OCS2). The toolbox provides an 
 efficient implementation of the following algorithms:
 
-* **SLQ**\: Continuous-time domain DDP
-* **iLQR**\: Discrete-time domain DDP
+* **SLQ**\: Continuous-time domain constrained DDP
+* **iLQR**\: Discrete-time domain constrained DDP
 * **SQP**\: Multiple-shooting algorithm based on `HPIPM <href="https://github.com/giaf/hpipm"/>`__
-* **PISOC**\: Path integral stochastic optimal control
+* **IPM**\: Multiple-shooting algorithm based on nonlinear interior point method
+* **SLP**\: Sequential Linear Programming based on `PIPG <href="https://arxiv.org/abs/2009.06980"/>`__
 
 OCS2 handles general path constraints through Augmented Lagrangian or 
 relaxed barrier methods. To facilitate the application of OCS2 in robotic 
@@ -51,18 +52,20 @@ Credits
 The following people have been involved in the development of OCS2:
 
 **Project Manager**: 
-Farbod Farshidian (ETHZ).
+Farbod Farshidian.
 
 **Main Developers**: 
-Farbod Farshidian (ETHZ), 
-Ruben Grandia (ETHZ), 
-Michael Spieler (ETHZ), 
-Jan Carius (ETHZ), 
-Jean-Pierre Sleiman (ETHZ).
+Farbod Farshidian,
+Ruben Grandia,
+Michael Spieler,
+Jan Carius,
+Jean-Pierre Sleiman.
 
 **Other Developers**:
 Alexander Reske,
+Sotaro Katayama,
 Mayank Mittal,
+Jia-​Ruei Chiu,
 Johannes Pankert,
 Perry Franklin,
 Tom Lankhorst,
@@ -76,6 +79,25 @@ Edo Jelavic.
 project has continued to evolve at RSL, ETH Zurich. The RSL team now actively 
 supports the development of OCS2.
 
+Citing OCS2
+~~~~~~~~~~~
+To cite the toolbox in your academic research, please use the following:
+
+.. code-block::
+
+      @misc{OCS2,
+         title = {{OCS2}:  An  open  source  library  for  Optimal  Control  of  Switched Systems},
+         note = {[Online]. Available: \url{https://github.com/leggedrobotics/ocs2}},
+         author = {Farbod Farshidian and others}
+      }
+
+Tutorials
+~~~~~~~~~
+* Tutorial on OCS2 Toolbox, Farbod Farshidian, 
+MPC Workshop at RSS 2021 `link <href="https://youtu.be/RYmQN9GbFYg"/>`__
+* Real-time optimal control for legged locomotion & manipulation, Marco Hutter, 
+MPC Workshop at RSS 2021 `link <href="https://youtu.be/sjAENmtO4bA"/>`__
+
 
 Related publications
 ~~~~~~~~~~~~~~~~~~~~