Fixed an error in Aeq and beq. Acrobot trajectory optimization solution. - Githubissues

shrenikm / PTE

Parameterized Trajectory Estimation

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Fixed an error in Aeq and beq. Acrobot trajectory optimization solution. #23

Closed shrenikm closed 5 years ago

shrenikm commented 5 years ago

Direct collocation for the acrobot gives a valid solution.
Fixed Aeq not setting the last identity matrix in the proper location.
Provision to provide control input bounds.