Betts 10 113 #277
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Betts 10 113 #277
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This is a very simple example how to handle inequalities of the form: function(state_variables, control_variables, parameters) >= 0
I simply define a new state variable, say, J, and set J = function(state_variables, control_variables, parameters) as additional equation in the equations of motion.
Then, in the bounds I set: { J: (-np.inf, 0.0) }
I made similar PRs before, but none this simple.
I guess, a matter of taste, which, if any at all, should make it into examples-gallery.