optimization.shooting¶

Shooting: one rollout of the closed loop per interval, joined by continuity constraints.

Classes

`Shooting`(q0, horizon, nodes, *[, v0, steps, ...])	The closed loop's motion from `q0` over `horizon` [s] in `nodes - 1` intervals.
`ShootingTrajectory`(t, dt, q, v, a, u, blend, ...)	The nodes of a shooting motion, plus what a term needs of its intervals: `stepped` gives the shape (the intervals, then the Param's own) of each Param that changes at every interval, `steps` its value per interval, `params` the live Params of the controller in each interval, `now` those before the motion starts, and `dissipated` the energy [J] that the controller's own dampers take in each interval.