Closed ZeeCarl closed 5 months ago
@bjack205
Control and state bounds are both supported, as well as general nonlinear constraints, as long as they are stage-wise.
Control and state bounds are both supported, as well as general nonlinear constraints, as long as they are stage-wise.
thank u for reply, I have finished state constraints by using altro-cpp, it seems that control bound and state bound won't work when bound trajectory infeasible,
now i'm working to add the rate of control bound into my project , like jerk in a unicycle model(state:x,y,theta,v and control:front_wheel_angle, rear_wheel_acceleration), can you show me some ideas? @bjack205
thank you for provide this package, does it provide a current interface of set a status bound constraint like goal constraint and control constraint?