Jason K. Moore

A general solution to this needs to support this cost function:  (general optimal control cost function) Creating the discrete version of that and the discrete gradient from a general...

Yes, I was starting to implement your suggestion but I think it was missing taking the derivative wrt to `h` and I started getting hung up on the solution. I...

opty assumes all time varying symbols are given as `x(t)` and then it discretizes that to `x(t_i)`. If you provide `x(t - 5.0)` as a symbol in an expression, that...

@chrismo-schmidt is your need only to shift a control (specified) trajectory relative to the output trajectories? Timo is right that we can shift things after the fact if we have...

Maybe the instance constraints should support doing something like `u(t) = u_shifted(t - 5.0)`. That might be the easiest to implement. Or we just have a "shift_constraint" kwarg to pass...

I think we know how to solve this conceptually, but it is more about how we solve it given the design of opty. An ODE that looks like: $\dot{x} =...

Minor clue on the error: https://github.com/coin-or/Ipopt/issues/713 You may want to ask about this on the IPOPT forums/discussions. I'm not finding much about the particular error.

I remember being in a birds of a feather session at SciPy around 2013 or 2014 where the momentum to make conda forge real seemed to solidify and it was...

Glider exploiting thermals: https://poine.github.io/glider_experiments/ https://github.com/poine/glider_experiments

Here is another example from the user poine showing planning of vehicles moving in space: https://poine.github.io/projet_dronisos_guidage/planning https://github.com/poine/projet_dronisos_guidage