saturate_controls is widely used so should be part of the OptimalControlProblem base class
Should depend on a control_bounds property
The control_bounds can by default return (None, None), or by default return a reference to parameters.control_bounds. Either way the user will have to implement these with _update, which is clunky and further motivates redoing this architecture (https://github.com/Tenavi/benchmark_ocp/issues/13)
dynamics and jac need not saturate the controls: we can do this inside simulate
saturate_controlsis widely used so should be part of theOptimalControlProblembase classcontrol_boundspropertycontrol_boundscan by default return(None, None), or by default return a reference toparameters.control_bounds. Either way the user will have to implement these with_update, which is clunky and further motivates redoing this architecture (https://github.com/Tenavi/benchmark_ocp/issues/13)dynamicsandjacneed not saturate the controls: we can do this insidesimulate