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ipab-slmc / exotica

Extensible Optimization Framework
https://ipab-slmc.github.io/exotica
BSD 3-Clause "New" or "Revised" License
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Dynamics derivatives are wrong if dt != tau #694

Open wxmerkt opened 4 years ago

wxmerkt commented 4 years ago

Work-around: Always set the dt of the DynamicsSolver to equal the tau in the DynamicTimeIndexedShootingProblem.