control-toolbox / control-toolbox/CTDirect.jl
Dual variable of the path constraints
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bug
- Dominant language
- Julia
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Description
When building the solution, we must pass the dual variable of the path constraints:
https://github.com/control-toolbox/CTDirect.jl/blob/9c39f602c3cd7bd94c45ddf87c4ae75494df40b9/src/solution.jl#L46
Actually, the dual variable should be divided by the step length:
https://github.com/control-toolbox/OptimalControl.jl/blob/ea1e64bc9b55dbcd68bf43ac176679c30f3b9421/test/extras/cons.jl#L49
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