Issue with DTQP_setup_convert for multiphase

danielrherber / dt-qp-project

This project solves linear-quadratic dynamic optimization (LQDO) problems using direct transcription (DT) and quadratic programming (QP)

BSD 3-Clause "New" or "Revised" License

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Issue with DTQP_setup_convert for multiphase #9

Open AzadSaeed opened 6 months ago

AzadSaeed commented 6 months ago

The way it is currently set up, the conversion code does not enumerate over the length of the new structure, which seems to be needed for multi phase problems. Check case 3 of JadduShimemura for details.

danielrherber commented 6 months ago

Can you confirm that nonlin.linkage_equality and nonlin.linkage_inequality don't cover the needed fields? https://github.com/danielrherber/dt-qp-project/blob/new-input-struct/src/DTQP_setup_initialize.m#L74-L75