two body skateboard 1st commit #220
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… = 30, I am unsure what to do
…so that they all contain approx. same number of bars
…tions Plot constraint violations
Added a example: crane moving a load
Handle variable h
ball rolling on a spinning disc
…y into plot_two_body_skateboard
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A pretty contrived example!
A skateboard consisting of bwo bodies must be steered in such a way, that the centers of the two boards follow two lines.
Interesting maybe only this: unless the lines are straight or the initial guess is very good opty does to seem to find a solution.
So, I iterate in many steps for the straight line to the curved line, changing the shape only a little bit in each step.
The solution of iteration i is the initial guess for iteration i+1.
Here of course I use the solution after many iterations, so it runs in around 30 sec.
If this is too contrived for examples-gallery, I fully understand!