Merge pull request #826 from murrayrm/smallfixes-04Aug2022 · python-control/python-control@49b0077

@@ -626,7 +626,7 @@ def final_point_eval(x, u):

626626 ('collocation', 5, 'u0', 'endpoint'),627627 ('collocation', 5, 'input', 'openloop'),# open loop sim fails628628 ('collocation', 10, 'input', None),629- ('collocation', 10, 'u0', None), # from documenentation629+ ('collocation', 10, 'u0', None), # from documentation630630 ('collocation', 10, 'state', None),631631 ('collocation', 20, 'state', None),632632 ])

@@ -716,9 +716,11 @@ def vehicle_output(t, x, u, params):

716716717717# Make sure we started and stopped at the right spot718718if fail == 'endpoint':719+assert not np.allclose(result.states[:, -1], xf, rtol=1e-4)719720pytest.xfail("optimization does not converge to endpoint")720721else:721722np.testing.assert_almost_equal(result.states[:, 0], x0, decimal=4)723+np.testing.assert_almost_equal(result.states[:, -1], xf, decimal=2)722724723725# Simulate the trajectory to make sure it looks OK724726resp = ct.input_output_response(