changliuliu / temporaloptimization Goto Github PK

Hello！THX for your work.
I have a question about the mapping from the s axis to the T axis.
Since then, we may have some Ti is infinity for a specific Si, I want to know is it solvable for such case?
Or Can we determine the Smax by a higher Planner?

For example, the T2, T3 may be infinity in the fig above.

Thank you very much for your contribution!

I got this error when I try to run CFS. I use MATLAB R2019b.

The problem is infeasible.

During presolve, quadprog found the constraints to be inconsistent 
to within the constraint tolerance.

Index exceeds the number of array elements (0).

Error in temporal_opt (line 84)
        reftnew = soln(1:nstep-1);

Do you have any suggestions?

Thank you very much!

Hello! Thank you for your work.

There seems to be a missing term of (t(i-1)+t(i-2)) on h(3) and h(4) equation on your code and paper, which should be

h(3) = t(i)*t(i-1)*t(i-2)*(t(i)+t(i-1))*(t(i-1)+t(i-2))*(t(i)+t(i-1)+t(i-2));

And there maybe some minor changes on the dh term accordingly.
Please correct me if I am wrong. Thanks a lot!