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PSOPT / psopt

PSOPT Optimal Control Software
GNU Lesser General Public License v2.1
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Remove array index offset #50

Closed ecbrown closed 2 months ago

ecbrown commented 1 year ago

Fix proposed in https://github.com/PSOPT/psopt/issues/41

vmbecerra commented 7 months ago

Dear Eric

Thank you so much for your suggestion.

I have realised that the *_propagate functions are difficult to use and fairly restrictive. Moreover, as you noted they are not working well. There is actually a better way of propagating a user-supplied control input by solving an optimal control problem with a special objective functional. This allows to include path constraints, which were not possible to consider using the 'propagate' functions. I will document this alternative approach instead and remove the propagate functions, so I will not approve this particular merge request as it will not be needed anymore.

Best wishes

Victor.