Armin Nurkanovic

As we will have a new integration and OCP class after the refactoring, it would be nice to add afterwards an mpc loop that solves a sequence of OCPs. This...

Currently, we support ell_1 relaxation of some terminal constraints 1) the terminal constraints of the ocp 2) some of the FESD/time-freezing terminal constraints to meet a certain final numerical/physical time....

By introducing a slack variable, MPVCs are equivalent to MPCCs. This can always be done manually, but it would be maybe useful to automate this step if the user indicates...

This option was experimental in the mpcc homotopy and proved not to bring much. I suggest removing it completely as it adds no value but requires maintenance.

We have this for the plain numerical time, to make an ell_1 relaxation of the terminal time constraint. It would be nice to have the same also for physical time...

Currently it is looped in ControlStage and it might not even work. Moreover the current for loop will be broken in newer matlab versions. R2024a already throws a warning.

Adapt the novel step eq. form also to other DCS types.