From 8f9925fad5a0dd6c2730a4544a4b507877319a01 Mon Sep 17 00:00:00 2001 From: Peter Stahlecker Date: Thu, 19 Sep 2024 12:35:54 +0200 Subject: [PATCH] new PR for pendulum swing up variable duration --- ...ulum_swing_up_variable_duration_solution.npy | Bin 0 -> 12160 bytes .../plot_pendulum_swing_up_variable_duration.py | 16 ++++++++++++---- 2 files changed, 12 insertions(+), 4 deletions(-) create mode 100644 examples-gallery/pendulum_swing_up_variable_duration_solution.npy diff --git a/examples-gallery/pendulum_swing_up_variable_duration_solution.npy b/examples-gallery/pendulum_swing_up_variable_duration_solution.npy new file mode 100644 index 0000000000000000000000000000000000000000..b9a7eec7c3bea3b1a130390df921e32e196c82ac GIT binary patch literal 12160 zcmbW-cRZKhA2)D& SC8H=xg!hTIXj0NND#=Kqq@?7lK}e-RMT(GwB5^K}nZ5Vk zdv9((=W{9Zg-RG}dvs^lU?b3OB%cb`EO zV$JTO z$If*1SoV0qTGO$2SGk@-fcszwZ?`{q>DgLHzI_3|HVf;14SEfk|M1o3-e72Pxyg3+ z&jc};|iY0`~+_$?1igcBjE6g!sPo$qhREao7uO0F;K?DM9-oe3pYHT zM7+uR4%)AuB(>Va!{ou+yJgn=fbix!das*)g2zgan){JSpeOz^OV~XbxK}g(cyKNS zbojO2E$+oI*6Aly^_GG&-1TftfoZV6wl-BE@DJpq({J1VIvo<)YW)g>Gr;7gj)s2N zUl=U7BW@6#35RdJskiu%1ums(Owv>~1aNFq7R=3ot|`ggd8N64^+&Edhs`3l z?H?pu$`wfQ$SrrV}|8;NIJmVJun+ ztP%@4E*C1{_Q~75dS5HSS26TY;BY0h&s4lVt5OBeqk5FxFING5-&gsrcU2I7sB(>a zQ5E#KZi>*HtAa({%?Fres=+3?_C@K=YLH>;7kPcY8XV~A109{K;mC^5o%SBp@Jc6D z?Sp4ER6e!s6?LtKJF8dTn>MS4N3OSze$c1}!{MYI@^sapw^8HG*B@0NVz5)l=yVlq z&hYuWd#n;HJAFjsZ&kw2tP3TjqZM$#PJF24R0Ukhto&3C(H#XspVpLktb@g zBOe=LnBPBNhIGOTaz{mNLn0`nZT-7g+kiBIpV zb)09b#t-{s=dB!Ta4LiOgYxQHe09q8!_RH?IC8F%`H61>7UYWjR?^gni{CS{dIdD$ z=7r;rFQ_%+z&Vqa6nT{wk7rLo~z7jE9`?;)4lg%ub%=O0gZ z;f05r`WM%9W7(A(zI*K4H!YWLd?4lf_6dUHE#7 zePY|cPHYQryJXIFVx`8xde6=de3(V9cbj z%}MV7k>*ysT||oS_S#ll7<$9@`Pmj6Z6xU#^|TouTH`po;ztt}Zvz*tPmNf0{PEbK zf_l7JBU@%o`_lM)&KbYfTaC-;r}nODsl?^an1Z@<%JGOkiu)T{ioYJcCh@|)7<1Ss zdOSBPz*Y{Pp7HrP_;hyUzk9NOFc= zD1v?O{h8?)N@4cIsetph$|2oyU5VjPB^05Sr-f&0K%L7>c_h0I?q%*&{io0f!zb3C z)&A22sh5lI`t>x!+f6YCrny_e>u6gquTmRi9lW#XxU(H(zvRdNGwuKh-G{~4tP{SL zNhQu+>;fjA9~PT0bb}zzUUSjYJ&<|iEw(+-3u>{?2M1L9fbp?+;u(Q{z~g3oo<04L zV%jmIk~9Dr9{Vkn-3H-&^E+1si6OY57j;ML#t?MZ$?+xU4}q)SIr--j!?5k6jY0C| zVURkR;VAii7}lQEor)hDh7*jfuJ)Tp;FH6_rajgpu%L8(-R5^Apklc1l3c+ER7KaM zOHGZyuct)@D_4&~nx`ETyY?tVAJ)tmI6ewCWk@H}W)uQzjhoNj8HEKw9uJD|7CTLe`dJZCTew;rmcn4Be?w2-_pXZmu;7q8wT>t=u%NKF)&Q$e7MvVKbjX8Z_lGb?f zTU0OX3`-r~cE1OvCB3kMf_e3~Yt&qWaPjsKuS)HN zrTO;c9ix95-YjwOzv>6sc+0GLhP!hizI_-j@oX-|x8;WQY(7@ti*3gP?(o-OLGh!U z1J3oBPqy`ihIJEWc;>F&E!2Wb&AeCGCAZ=mst3MoH*Lo`fw$zd#yW67-RL{N|GMx~ ze-T9)fgZf3=`RP@%U)b*mKWN#q8}%evtBju9KboxquK_B25~=wcaT=Z5Vm4*l{#WH zjCY2w{O{%5lIkh7gTW(sO**6N4y{rAQu1EU^|Dcn)#QS2UL3>1XZs7ckB{M>(f{rF zdV3s;WxbdCOE-aIK5zczbY}uz`E9G6JTZY=Y=dK;SWV)((?;PP6_eQZ8WPIXnZm|% zg;Me#rtrD3fjORqDa<%KknC(UjknZh%3FM%#wI(GK9`S9<0(-GjsndYd~{8y%R$!} z%q=f-;#A@c-rW0Ca&lk>Z=kn3A}uwG<-@bjH|fvf!JAv&s5;DIv&Y9*N<5pzHkv=a zefTiRq2ki~0o5dG-J`HRtp2aG4 zZg!heXR+hW%lcmj+bj^PT=xD)m0|S6L|6zi{w$?aa@_%wnMvn443LYN> z4BPLI;)#bta-JC@IH-1`(x!!B%-X4a%tB=tzuLCL!N7C~t4t~!KnnwSO`^1n(zbs5 z@siVgy+tqHcXGD3*`piJzZHK_6xfMtjCwK+KeXe9fv!UCcdfX}q~%Jk|I&J|pFSQq z(||kJnYaH-t-(*)!k)KZtHAp|?K%@BR)QB)>+08qj|H18dm_)6OQ*6V@(enZ)* zV|`Gg!@J4g%m8@a>P54!Oi3Q z>`r%%fmFG%+1Z?N@Vw7>csgtX0!7#jC2vo{T9j&*Yd8hjfA*_SiB7}en3SY1&C{Up zO8swV$P7%XZOTnNGYgr6DK`{^=HMsCeVYTBb8vR^WV4FHJfOZ)=lWJIz=^uNThD(j z0Pm#xlby#GK~6Q;USMz$>Q_XB^X#BQDlU3k!HW(xFJ2v%&!edtm9#pJNPdGyF2z4h`hW(Ks{;P*>i9R~D#L^gfMkpT_1RydSJFrdx* zv{%g6F`%>PanDU2Ml}3tTM6x5&bRm7Qg$75#hJ{Ra!F`(FCO_**3t4 z;*Yyd`HC>1kk_tHCUuz539Ve~wU$gM?Uqf4+#@E`ESJd1^_2-dpS=5}p=ha{lzKR7 zgbA6C-Z<M5nnSNWTGNY0Y_b*;O!i*lS4H*ozXGRANJb!ZeFr(o1q23=~m{Dc1 z=Y!}>W)yM`^kVO7a_T8$TBGCz#IKCY%K|OVa%}kjjEM{6760DPuub1Gm-R>R~|!RqGlb zFS4Ll-@PMc1zFM0avs&a>sgV`M#BqJ+gXuj;;5SXK~{9k{{3SXGgkEdv(Vv7j;yHi zp}+YVPgca-6aJ#-B`fN8f>@piRuoZ?YyB^Y6*WDHv0adUern+i8)&dqG-q^Ve}J+L9D4^wbG zz=rzb4nEju!iKCZe}k7L8=`MKoc!=A8%jQyE3bN+4aJ*jJ@@cpLzB@8Ww)QPA>n=D z&m@A`P|Tir!wca{{pt%E9Q)3Ons3epbtbc+#p>fLCI7Oa*BaN1r}NoR^hj2mV+9-H zl;GO`w1Ev>Q>y9T-NA+&n++9T^|PU1?NHtOV{GWoYkOISSvFLt6lAl4o*i+&Z#MhJ z!j9H6tnaJjWJizw8Txwgv7>7Zh4!(6>}cW%-A`3`nkp+VUI}&u) zFP)HNN35y2<_FfWBmNCLkInu+{@DyBc z$6o(}nsy^?S$_&rs^85A6r{uPv>SBd^jWZq>ATD6^|`R}@~YL0dik*TrmBGY}^#IpkIoON^^~1hO_*3hVSsPdd^Em}qjOwf5 z`Xf75IpJDZH&eW!NVg82Y6eSJnAO93iDu4>>kZJ=b#A@ltwz{VJAU`DMibzRTMOEv zn;<$juV{@}GjQ9x?rgZbv`#6nIWyYO4A1RLYqhtufZY~;f#CZs;2D)UH<{A{a7!6f z*;--iTaPWd0Go_VtxnD64@-?OG%rx`S*6V=B09Y5dGJbO|T5IHi>f? zC6++Mo#I!qM#Uf{GURl=x)9EdCY9vR{sZsXhNEQyx$y9&bZV${7CaJtwBANO16<=n zea+?5ARv>UL7M*;IJCNbahdrF4KmJy?^-;7z9#yfn^*+i{y_H+t9^{Ghea(FgY z;;&k@R;Cy$zDVjm-d&Cb9Z_!E#~Q5vcyhSyXd~|4+%Tvy(~O_hD7PKgZNodv%Q#QF zci{OZKE_i&y6~&T6CqYjJs33{J{z>qhm*vlllb`t@i*s*<0B7;aLq+;nYSLpIC8qj z>y`5e9=_^eao21V=crpbcJCa+k4m0I+DnY%#V^*L2?I;@5^IE+X~G0nHik-ehe_-? zmBwWwJB6!$`w4FSH-#7T`?bZarg8e}%!^es)3_v4%~08W1_wNUSkgH=gNsJ$wTdp! z;>DlpPAU1b*gfA^^Ret4R=H!2#O>y=`nO_}lhJed<*Gr?t&MZo_cOgbS zcJ(}_F8#sn&n?wYmiN+J=$7gtMd{+{W|3LEHP0*XK-df(QJx8YynY6+ z$XQv`|6v+GHhRJMmwy`bu@qC5H>U7zTv)qqsUGB5tuAz4aT41+Gw17doi=Rs zOj0IEqXlz+vPN^tO*rbziHIV-Iy}k1D8FB-3jdA_`7d^&6kjb$_50vkhCuVV&@aqd3}{QK^_R2N3~1q|*~%GPMpPC4>h--j zMzpJ9@!}VECd4WFw|(6L6WW)1Oz-i7tDM$iK^cd3Jlhknv|m53 z(aLUSL1u^Vs2HzhMY=ZUo|K+pMHKeFrQpMg#vE#{7{sxnP8O`DUcid-kD0IPZD2*c zmY&&;?W|~nzPWl=Gb>{1lD0Wt#)=->m2YE8VMRL^4wcQmVMUK_f4S~*l@+Nx*;|~b z&5AZ==lP7&v7*CQRO1|zS&;HRiowl>1&vimpFS_bf^I9h3SUWLMo~LI9UM8zj83GB z9NO2(gx2XlY0bLEgc2WLNclU>h^)SQw!Xf(R2OmaOTQasK-~UkAIe{1Kt}IHCZAT) zqv`{zBiHHDqvx-hx*(hm@v`gOu`7Kae7vBj`iQL?L~ki~@N#v4r~VqHS6r>I(k9vW3r7z|4O0F`q7*oe=aC0CLQo%`3X;+kDE2Ay~j#^MK z!$z(-ZByzo%7 zke4d%Dx6c&MNEu6k@@<)N;eJ*;keo11z?&$~gTmy7x( zzqU;OFc)Qc?4{e@Z=6)in7w)`8z;5u@9|GNOgX4(r|Pxl;p|kqv0+d25F2&B-p=r| z8XM&^B%xE_$VvtK>EqY2ER>(M+soU%%oO^ug{w)LnY!80n=EsJiE53C_6~W>NNvBD z6aO`ZfeI-w&h#Ikr|3ISgP#OFH8uFIxYK}+QV4lk07V zv`-%t()ecZwM6z8b2d}h@Y5=j4|x;V@PS4{vHUpJ6Z@$8*=rPUa23eg)HRGfxsPkO z>>a|2{Egj=NBi-Bjp#Zr;T~MQhLib9Z3jLt$@|dvLn{thwAoc~Y3cVHJdE)NIBIZw zU*Zs5O9`$H_^Z46TPCJA&z8P!9*Hx)SQ%J7jDwSr(^p;B=fS9UiPZTo6;NOKsNQu& z6F8i{PVchIj_m^=$l=-Mx(4)DpQIpIi3}|CkqvR%TCbaN1 zol9vCGfI`3KH}}hg6v{hg6k7l(ZAKw4llde(5{gHQ8`f#WMk-)*Rz`wO*RWJY_{V< z9z{2}^!&L|(z-;!BQZQnb$rCyCx3ZSY-4jB`(-|qE_9co@8?5@rmt#kv*t(H>%Pft zZR1C&{acwmj;}zRGYQutGghGI5u4JsDGDH7Dc!5T9|@o^h0~+|S_F{Wgue!xsvxor zw>>CyOAtN1ajYurmmo@B_3w)Fupp}Bi}`m3Z*vm7C4~AGeYdYz^1kKAZ^8~jh&8BB)A*baIx3PVF0fk&bqEApek&t{=oXub z4@?Up3#oaHhgpJ1M~{C$_F1~_s^og}gMz4gB+y})T@ZzguMO--6+mVeuV2ov6+qG| zJ0!V91yBi-TcmE<3bfJ1)U(}U1)7+Y@xI2qB;#3*i=q6;=h>R(Ex?Zqv)|Vps^&wf zCL%I24t$6gAJ66I;6wB7OAEFxFEa2+P`G-P2Z=qX>QsBrjoyT=Rj4ZDLg}GL5?krG z(A_a>-%?dhbg5D3pokR*+U-^!wc-Oi%5Z50}cg4L0@X6zRl5l?> zuDi3^zV@DjQ%BF0UwS_aVv*}P8Gg?|Y;-B(uBK_Y@9?3LhkF_t{zfWq*PVj>RTkkN z-6moC$T5Yre<$EvZ@tEg6%+7bPr6R=#c`1AQ_6_R7z3H)qF7G(F;F#azk>rt;j*UF z*-xya@GtJumACFAU;&r1?=Xx2SKI0o#Ye-yP!v>sZ{;xD7M*6dj2;5nomSEDdxs!U z*6CZ?;h{II{=Ql61_={{UDY}$>pGa2$Z-{8WP$E2Hv5QCTxB1 z>cP)ZZo6I(FiX;{tL%XrNyl_*b$cK{N?%0eTQ}IN`kMwycEidaN^}?fy5Q2OA{I~P zF3=H?cNo9b33CGRLh)lAP`Z`XDAle54hs8ht~?pr3^u<@ z0}^&LL!tpa$Cc71@RyJ=H@(mV^bwV7|Bf}n&fJkR5fY6cyV6vOXMY34KC793?^F*z zd78F}f2;#dAs$|yl3ED!c9|BTtA*7eXS-83)W9~e|CryOtcEp}K^{9jt6&F*uZ!}x zN?=~Uk-ed^0@gFxZpxY~hZ`=^%%&3MaOvmMP)4mXxWwS1AZt_#Qv2Ti7O^S;*61IX zH#rxB$&otw-*<}O&fUA*WAg>@DF0f-?ty=>*z9kg_b(S(-@SgG^)eg2n0;Sy#UK-0 z@_l5=d(%Npe7BdiUKa0vI&5rJWUe z4RlhUz6bqzmh^vrPCq&9&am`%(!Qrp>xYTfuQu&E z13>!WrQJt>I%(T&Ci*E6JJu47C5V|qL;)_E^u%Xll}AktS5HPeYM(L})jqKp&K z_6QNl5hX{+IGux}S$FE41hBvQPdC4_;hcgcH}5 z>3-UbL*rG!6VC?Qpzc)T)^W>sSZiFN_w!5#-nZ>RO2VxPOsy0D-}fjtz2IeEY+TM6 z<;$_0GwRd*Br0&yc5FDjShih8F*j$<;;lqMN}N`mBrx_*#+zW)d@ z^ce9!W8%zlBE1PQh-L}RcQl!3(w!jZ`P06iKz$@u{~7ImG5&{# zA2mpOKba?#G|3+&AWM$ZixIQ=h}z7=4O8TO8Fv#ekoihYWRUjVuS6q~JL<`G((XJ& z43{Mu4v_H^`a%>wLcCK)#`~)}(G!sz_=PR!jv9Ad&K;G(znnYj+OP7trQG4SZhV53 zFo8EtYz>W`>cHJ+4`q}@gya1Tti8;Ot?-)H;s#gN80a2q&xGEaz6tf#mo` zB*}HgUXt_Ah~z$!HV<~1F5e$gjUyUO5?^dsejb!;Lfm(UIRBO?@RR7APpoJnCJYl@ z>6YIsx=mZxrbzCPvXe-KlGiEHl@`^|{0 zTEug_MD{8&o|m2xm9&Vza!3v~Y#+*e4>DI(gNyHG6Pf9>x`T3}ZqeMDqVh3%0 zzM;+6cG~jDVkvE(*+%wjYJDXc2U}A2P`PoWJxKCO-TIHTC$11P4T-W!L>?xhd^s8K zw?V|hlSD>#Vn7JV$p;DIQCpIqDkqYsT?}Mht@I=7>ei3TIi{TL{FZa4$9-eqf9tDz ziB^{IjcKgQaM09BW&}Hi$(At(w&N6~rT;59m4^>?(RscdD*!L8sAAJI9bo#?Wn1{e z5wPJ@EGw^@hWN3I|Lbq*_jj+Cjp19)Hwud;^T#Qa%qNisQfDS4ka-q%gv`59+B}Sw zTYfI2evN1vOEhjLUg2MUF9@jutI58J=1HA^)@~x_h0xYDH`=d9jU zq#a~PbR_vi^)#z!UZDAqcHR!!_q=KS*wXrKrd_9JLYqllfHG*$k4esvC?h$qaGJcYvO%I$JMlB^y`G`%gBlb$zWzH=oYZNE z@fm67x)V+9i0@2^uDgjP%EWsjM9X zT?ry?H7D+uA=cE9Joft#k8dM>t|WOCwkFyRksLQ#5OXq?*Kg#&Nqn@K69>!jv~9FF=dV=2O0E^APfEJmuE!Sr87o&)ID_1C@1m`hWFL!6gsxJ>LQ+A^oEE zShC>+WUAaNHsKiuwx$OevlXLY#+Xs#5k3M```4Gs_l80L{W?ZB^C93BHmh?89Drjc z?l(J~`{3e&`KX3P541`8CYYS+0?#b3O=r(`fTHwg5r->nki4o%G5=l*yc*b$mh_PMVpIWN3f?lC=afKEE&HxjJ_S(lQH3ezWfp98a@7v{ zO2Ik1U6RwE;y^XPVtNL@1Rp)mM@1a(u)%4yw>>rqIF+-O-q<}2R|X2(MxV^a1|k_d zuBsPeV|%u^&4Q(PH@Dh|<cHBS