Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add possibility of contraining the problem on integrated nodes #310

Closed
fbailly opened this issue Apr 12, 2021 · 3 comments
Closed

Add possibility of contraining the problem on integrated nodes #310

fbailly opened this issue Apr 12, 2021 · 3 comments
Labels
enhancement New feature or request
Milestone
Nice to have

Comments

@fbailly
Copy link
Member

fbailly commented Apr 12, 2021

This is a nice feature of rockit (https://gitlab.kuleuven.be/meco-software/rockit).
It allows to keep the number of shooting points low, while ensuring non-violation of path constraints on a finer grid.
The strucure of Bioptim should allow this easily.
@pariterre
Copy link
Member

That would be only available using RK (and not IRK), though.. But honestly I am not sure it is actually useful...

@fbailly
Copy link
Member Author

fbailly commented May 6, 2021

I think it is, e.g., for avoiding gimbal locks on 3D joints when single shooting integrating the solution...

@pariterre pariterre added the enhancement New feature or request label May 6, 2021
@pariterre pariterre added this to the Nice to have milestone May 6, 2021
@pariterre
Copy link
Member

This is now a duplicate of #249 thanks to #351

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
enhancement New feature or request
Projects
None yet
Milestone
Nice to have
Development

No branches or pull requests
2 participants
@fbailly @pariterre