In light of [1], [2], and [3] (#163), path constraints should be generalized beyond 'epstrig' and 'utm' methods. I suggest making a distinction between control bounds and state path constraints. That way the 'method' argument can specify the type of function used as per [1]. It would also simplify some mechanisms behind the scenes.
[1] Casey R. Heidrich, Michael J. Sparapany and Michael J. Grant
Investigation of Control Regularization Functions in Bang-Bang/Singular Optimal Control Problems
AIAA Scitech 2021 Forum. AIAA 2021-2037. January 2021.
[2] Sean M. Nolan, Michael J. Sparapany and Daniel A. DeLaurentis
Extension of Unified Trigonometrization Method to Enforce Inequality Boundary Conditions in Optimal Control Problems
AIAA AVIATION 2020 FORUM. AIAA 2020-3127. June 2020.
[3] Thomas Antony and Michael J. Grant
Path Constraint Regularization in Optimal Control Problems using Saturation Functions
2018 AIAA Atmospheric Flight Mechanics Conference. AIAA 2018-0018. January 2018.
In light of [1], [2], and [3] (#163), path constraints should be generalized beyond
'epstrig'and'utm'methods. I suggest making a distinction between control bounds and state path constraints. That way the 'method'argument can specify the type of function used as per [1]. It would also simplify some mechanisms behind the scenes.[1] Casey R. Heidrich, Michael J. Sparapany and Michael J. Grant Investigation of Control Regularization Functions in Bang-Bang/Singular Optimal Control Problems AIAA Scitech 2021 Forum. AIAA 2021-2037. January 2021.
[2] Sean M. Nolan, Michael J. Sparapany and Daniel A. DeLaurentis Extension of Unified Trigonometrization Method to Enforce Inequality Boundary Conditions in Optimal Control Problems AIAA AVIATION 2020 FORUM. AIAA 2020-3127. June 2020.
[3] Thomas Antony and Michael J. Grant Path Constraint Regularization in Optimal Control Problems using Saturation Functions 2018 AIAA Atmospheric Flight Mechanics Conference. AIAA 2018-0018. January 2018.