Code implementation in `minco.hpp` does not fit with the paper. Matrix row order changed.

[zhangbaozhe]

Hi. I noticed that in the code implementation

GCOPTER/gcopter/include/gcopter/minco.hpp

Line 248 in e0444f6

for (int i = 0; i < N - 1; i++)

The row order is not the same as described in the paper.

Is this for making the diagonal entries of the matrix M all nonzero (since in the above LU factorization, you divide the element with the diagonal element)?

Could you please describe in detail how you change the row order in terms of different s?

[zhangbaozhe]

I assume that for each E_i and F_i pair, you replaced the first (s - 1) rows with the original last (s - 1) rows and stacked the original rest of rows at the end.

[cheungsiupaang]

The same question