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- #| -*-Scheme-*-
- Copyright (C) 1986, 1987, 1988, 1989, 1990, 1991, 1992, 1993, 1994,
- 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, 2003, 2004, 2005,
- 2006, 2007, 2008, 2009, 2010, 2011, 2012, 2013 Massachusetts
- Institute of Technology
- This file is part of MIT/GNU Scheme.
- MIT/GNU Scheme is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or (at
- your option) any later version.
- MIT/GNU Scheme is distributed in the hope that it will be useful, but
- WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- General Public License for more details.
- You should have received a copy of the GNU General Public License
- along with MIT/GNU Scheme; if not, write to the Free Software
- Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301,
- USA.
- |#
- (define (find-path Lagrangian t0 q0 t1 q1 n)
- (let ((initial-qs (linear-interpolants q0 q1 n)))
- (let ((minimizing-qs
- (multidimensional-minimize
- (parametric-path-action Lagrangian t0 q0 t1 q1)
- initial-qs)))
- (make-path t0 q0 t1 q1 minimizing-qs))))
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