@brocksam We can use this altered bicycle model so that all of the coordinates are available (my prior formulation eliminates ignorable coordinates, but we need some of those ignorable coordinates for the OCP). This simulates correctly and I can update the equations in the paper repo to match.
@brocksam We can use this altered bicycle model so that all of the coordinates are available (my prior formulation eliminates ignorable coordinates, but we need some of those ignorable coordinates for the OCP). This simulates correctly and I can update the equations in the paper repo to match.