Jason K. Moore
Jason K. Moore
diff for it to work: ```diff diff --git a/opty/direct_collocation.py b/opty/direct_collocation.py index ee42ccc..82535b8 100644 --- a/opty/direct_collocation.py +++ b/opty/direct_collocation.py @@ -7,6 +7,7 @@ import logging import numpy as np import sympy as...
This method could benefit by passing `order='none'` to cse() for performance gains.
Feel free to try to make it more realistic. You then have your first research paper in the making :)
Lots of papers on this movement: https://scholar.google.com/scholar?hl=en&as_sdt=0%2C5&q=sit+to+stand&btnG=
The formatting is broken: 
There is essentially just 1 eom in this case because the block is always sliding: $$ m\dot{v} = -\textrm{sgn}({v})\mu m g + F $$ but at $x=1$ the impact occurs...
> As I understood the equations in your code, F = 0 after the impact, the equation above seems to imply F is present always? I wrote one equation in...
> Is Newtonian collision important, or would Hunt-Crossley also be o.k.? The point of this example is to avoid discontinuities when transitioning between phases of a problem. I can solve...
> When I did it, I had to optimize the the first and second phases separately - and surely this must be worse (maximally equal) to optimizing them combined. Yes,...
There may be no hack. We probably have to make opty handle multiphase problems properly.