Merge branch 'master' of https://github.com/RoboticExplorationLab/Tra…

…jOptPlots.jl

README.md

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+# TrajOptPlots.jl
+This package provides methods for visualizing 2D and 3D systems, and is part of the [TrajectoryOptimization.jl](https://github.com/RoboticExplorationLab/TrajectoryOptimization.jl)
+ecosystem. This package depends heavily upon [MeshCat.jl](https://github.com/rdeits/MeshCat.jl), which is used as the visualization backend. This package 
+is basically a simple wrapper around MeshCat, providing convenient methods for the types defined in 
+[RobotDynamics.jl](https://github.com/RoboticExplorationLab/RobotDynamics.jl) and
+[TrajectoryOptimization.jl](https://github.com/RoboticExplorationLab/TrajectoryOptimization.jl). 
+
+## Installation
+To install, use the Julia package manager:
+```julia
+julia> ] # activate package manager
+(@v1.5) pkg> add TrajOptPlots
+```
+
+We also recommend using the package manager to add the following packages to your environment:
+* [MeshCat.jl](https://github.com/rdeits/MeshCat.jl): Provides visualization
+* [RobotDynamics.jl](https://github.com/RoboticExplorationLab/RobotDynamics.jl): Defines dynamical systems
+* [RobotZoo.jl](https://github.com/RoboticExplorationLab/RobotZoo.jl): Provides a handful of canoncial dynamical systems. All of these sytems can be visualized using TrajOptPlots
+* [TrajectoryOptimization.jl](https://github.com/RoboticExplorationLab/TrajectoryOptimization.jl): Defines trajectory optimization problems
+* [Altro.jl](https://github.com/RoboticExplorationLab/Altro.jl): Fast solver for trajectory optimization problems
+* [StaticArrays.jl](https://github.com/JuliaArrays/StaticArrays.jl): Fast stack-allocated arrays
+
+## Quick Start
+Basic usage will usually follow something like this:
+```julia
+using TrajOptPlots
+using RobotZoo: Cartpole
+using MeshCat
+using StaticArrays
+
+# Start visualizer
+vis = Visualizer()
+open(vis)
+
+# Display the model
+model = Cartpole()
+TrajOptPlots.set_mesh!(vis, model)
+
+# Visualize a single state
+x = SA[0.5, pi/3, 0, 0]
+visualize!(vis, model, x)
+
+# Visualize a trajectory
+tf = 2.0
+X = [SA[sin(t), cos(t), 0, 0] for t in range(0, 2.0, length=21)]
+visualize!(vis, model, tf, X)
+```
+
+## Examples
+For more detailed examples, see the [notebooks](https://github.com/RoboticExplorationLab/TrajOptPlots.jl/tree/master/notebooks)