Are the OptimTraj chebyshev and multiCheb methods able to exploit user-supplied gradients of the pathObjective, dynamics, etc...?

[stumarcus314]

The trapezoid, hermiteSimpson, and rungeKutta methods in OptimTraj are able to exploit user-supplied gradients of the pathObjective, dynamics, etc... Are the OptimTraj chebyshev and multiCheb methods also able to exploit user-supplied gradients?

[MatthewPeterKelly]

So far, I have only implemented analytic gradient support for the direct collocation methods in OptimTraj.

The support for analytic gradients in multiple shooting was provided by Will Wehner.

It would be relatively easy to implement analytic gradient support for the chebyshev method in OptimTraj, I just never got around to doing it.

It would be slightly more tricky to do for Multi-Cheb, but also totally possible.