Merge pull request #48 from andgoldschmidt/mintime_fix

min time unequal step fix
kestrelquantum · Nov 28, 2023 · 8d91684 · 8d91684
2 parents 740c1e3 + 7b161de
commit 8d91684
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/objectives.jl b/src/objectives.jl
@@ -637,11 +637,11 @@ function MinimumTimeObjective(;
     )
 
     # TODO: amend this for case of no TimeStepsAllEqualConstraint
-	L(Z⃗::AbstractVector, Z::NamedTrajectory) = D * Z⃗[Δt_indices][end]
+	L(Z⃗::AbstractVector, Z::NamedTrajectory) = D * sum(Z⃗[Δt_indices])
 
 	∇L = (Z⃗::AbstractVector, Z::NamedTrajectory) -> begin
 		∇ = zeros(typeof(Z⃗[1]), length(Z⃗))
-		∇[Δt_indices[end]] = D
+		∇[Δt_indices] .= D
 		return ∇
 	end