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csu-hmc / opty

A library for using direct collocation in the optimization of dynamic systems.
http://opty.readthedocs.io
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Question concerning the initial guess for solve(initial_guess) #152

Closed Peter230655 closed 1 month ago

Peter230655 commented 1 month ago

Just to make sure I understood the documentation right:

N = number of collocation nodes t0 = starting time for optimization tf = final time for optimization delta = (t0 - tf) / (N-1) state_variables = [x, y, ux, uy], so n = len(state_variables)

then the sequence in initial_guess is this: initial_guess = [ x[t0], x[t0 + delta], ....., x[tf], y[t0]....,, y[tf], ....., uy[tf], same for input_trajectories, unknown parameters ] , and same sequence in free.

Is my understanding correct? Thanks!

moorepants commented 1 month ago

I added this to the documentation: image