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pyomeca / bioptim

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem
MIT License
90 stars 46 forks source link

Multiphase in ACADOS #311

Open pariterre opened 3 years ago

pariterre commented 3 years ago

This requires to stack the problem in a single phase (that is having the same number of shooting point in each "phase")

pariterre commented 1 year ago

This could be done with the MultiNodeConstraints #630

aceglia commented 6 months ago

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.