Open pariterre opened 3 years ago
This could be done with the MultiNodeConstraints #630
Acados now support multiphase OCP (see: https://github.com/acados/acados/pull/1004). There are still limitations in the current version: e.g. state dimension must be the same for all phases (all other dimensions can be different), extending would require defining a transition function.
This requires to stack the problem in a single phase (that is having the same number of shooting point in each "phase")