def construct(self):
self.T, self.t = self.define_parameter('T'), self.define_parameter('t')
self.t0 = self.t/self.T
Problem.construct(self)
for vehicle in self.vehicles:
splines = vehicle.define_splines(n_seg=1)
vehicle.define_trajectory_constraints(splines[0], self.T)
self.environment.define_collision_constraints(vehicle, splines, self.T)
if len(self.vehicles) > 1 and self.options['inter_vehicle_avoidance']:
self.environment.define_intervehicle_collision_constraints(self.vehicles, self.T)
def construct(self):
self.T, self.t = self.define_parameter('T'), self.define_parameter('t')
self.t0 = self.t/self.T
Problem.construct(self)
for vehicle in self.vehicles:
splines = vehicle.define_splines(n_seg=1)[0]
vehicle.define_trajectory_constraints(splines)
self.environment.define_collision_constraints(vehicle, splines)
if len(self.vehicles) > 1 and self.options['inter_vehicle_avoidance']:
self.environment.define_intervehicle_collision_constraints(self.vehicles)
