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Rapid-Design-of-Systems-Laboratory / beluga

General purpose indirect trajectory optimization
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Add support for second derivative of custom functions #204

Closed msparapa closed 3 years ago

msparapa commented 5 years ago

I just noticed this problem. If we have custom functions that are functions of the control variable, not only do you need the first derivative when constructing the EOMs, but also the second derivative when constructing the index reduced control EOMs. The logic I initially built didn't take this into account and it's fairly broken.

SeanMatthewNolan commented 3 years ago

This is handled in latest updates using numerical derivatives.