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FrancescoRuscelli / horizon

an intuitive optimization tool tailored to robotics, based on CasADi
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createIntermediateFunction & createFinalFunction #5

Closed FrancescoRuscelli closed 2 years ago

FrancescoRuscelli commented 3 years ago

separate intermediate nodes (all nodes except the last one) and the final node. The intermediate nodes are associated with u, x --> control and state The final node is associated with x --> state

alaurenzi commented 3 years ago

Done in latest devel 2271e0c2d1b5784ca974f9082e21e192dd66198e, we should test it