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Multiphase in ACADOS

Open pariterre opened this issue 4 years ago • 2 comments

This requires to stack the problem in a single phase (that is having the same number of shooting point in each "phase")

pariterre avatar Apr 13 '21 12:04 pariterre

This could be done with the MultiNodeConstraints #630

pariterre avatar Mar 02 '23 19:03 pariterre

Acados now support multiphase OCP (see: https://github.com/acados/acados/pull/1004). There are still limitations in the current version: e.g. state dimension must be the same for all phases (all other dimensions can be different), extending would require defining a transition function.

aceglia avatar Feb 19 '24 19:02 aceglia