Alexander Winkler

Hi! That's a good question that I unfortunately don't have a direct answer to. You're right, the polynomial that's affecting the constraint changes as the duration get optimized. Therefore, you...

Yes, you're right, I just checked the code to find where I'm tackling this issue already. This is because IPOPT requires the sparsity structure beforehand, see this [discussion](https://github.com/ethz-adrl/ifopt/issues/47). They way...

Yes, I just didn't use them, mostly because it was quite difficult to determine their analytical values for the problem I was solving. But they could be included in ifopt...

Hi, Yes, you understand the gist of it! However, the polynomials are parameterized by position and velocity nodes, so there are not acceleration variables directly available. So the acceleration has...

> So, if I understand correctly, it should not be difficult to add soft constrains to the optimization. For example, I would like to impose constraints on the robot orientation....

Thanks! No, unfortunately that code is not open-source, since it's more dependent on the specific robot and software stack being used. Not so easy to separate out, you'll have to...

Sure, I added you as maintainer (y), feel free to release for foxy, even without towr_ros.

The fact that its not outputting anything is very suspicious. Even if there is an issue with the constraints, something should be printed out. Maybe it's segfaulting, could you run...

Yes, that's the effect. The solver doesn't take into account the stair-step height. It only sees the height of the final foothold that it wants to reach, but might connect...

Stay healthy! :)