new PR for pendulum swing up variable duration

examples-gallery/plot_pendulum_swing_up_variable_duration.py

@@ -78,11 +78,18 @@ def obj_grad(free):
 initial_guess = np.zeros(prob.num_free)
 
 # %%
-# Find the optimal solution.
+# Find the optimal solution. Initial guess is stored in the file
+# ```pendulum_swing_up_variable_duration_solution.npy```
+
+initial_guess = np.load('pendulum_swing_up_variable_duration_solution.npy')
 solution, info = prob.solve(initial_guess)
 print(info['status_msg'])
 print(info['obj_val'])
 
+# %%
+# Here the better initial conditions are saved and stored
+# ```np.save('pendulum_swing_up_variable_duration_solution', solution)```
+
 # %%
 # Plot the optimal state and input trajectories.
 prob.plot_trajectories(solution)
@@ -125,9 +132,10 @@ def animate(i):
     time_text.set_text(time_template.format(i*interval_value))
     return line, time_text
 
-
-ani = animation.FuncAnimation(fig, animate, range(num_nodes),
-                              interval=int(interval_value*1000),
+time = list(time)
+time[-5:] = [time[-1]] * 5
+ani = animation.FuncAnimation(fig, animate, range(0, int(num_nodes), 5),
+                              interval=int(interval_value*1000*5),
                               blit=True, init_func=init)
 
 plt.show()