Multi-segment optimization problem setup

[Romain Guicherd]

Hi all,

I am trying to set-up a multi-segment optimization problem using PSOPT in order to add a way-point to an optimal trajectory.

First of all, is it possible to add way-points using a multi-segment formulation or does it have to be done with a multi-phase formulation?

The dynamics and path constraints remain the same from the initial conditions to the final conditions and the states and controls are continuous between the different segments/phases.

Say there are 8 states and 2 controls, ideally I would like to do something like that:

Segment 1 / Phase 1: initial_states[1] to initial_states[8] (8 events for the initial conditions)

Segment 2 / Phase 2: initial_states[1] to initial_states[8] (8 events for the intermediate trajectory way-point) (Initial conditions of phase 2 = Final conditions of phase 1)

Segment 2 / Phase 2: final_states[1] to final_states[8] (8 events for the final conditions)

Thank you for your help

Romain