Open YangBo17 opened 4 months ago
I can't find the minimum time example problem in this repo, could you tell me or provide a minimum time trajectory optimization example.
I have read the article of altro: a time-penalized problem is formulated by modifying the dynamics by adding time step as new state.
However, when I try to formulate such problem, the new state $\tau_k$ always equals to the $\tau_0$ in initial state $x_0$.
\tau_k
\tau_0
x_0
I can't find the minimum time example problem in this repo, could you tell me or provide a minimum time trajectory optimization example.
I have read the article of altro: a time-penalized problem is formulated by modifying the dynamics by adding time step as new state.
However, when I try to formulate such problem, the new state $
\tau_k$ always equals to the $\tau_0$ in initial state $x_0$.