min time obj free time only

src/objectives/minimum_time_objective.jl

@@ -9,30 +9,19 @@ A type of objective that counts the time taken to complete a task.  `D` is a sca
 """
 function MinimumTimeObjective(
     traj::NamedTrajectory;
-    D::Float64=1.0,
-    timesteps_all_equal::Bool=false,
+    D::Float64=1.0
 )
     @assert traj.timestep isa Symbol "Trajectory timestep must be a symbol (free time)"
-
-    if !timesteps_all_equal
-        Δt_indices = [index(t, traj.components[traj.timestep][1], traj.dim) for t = 1:traj.T-1]
-
-        L = Z⃗::AbstractVector{<:Real} -> D * sum(Z⃗[Δt_indices])
-
-        ∇L = (Z⃗::AbstractVector{<:Real}) -> begin
-            ∇ = zeros(eltype(Z⃗), length(Z⃗))
-            ∇[Δt_indices] .= D
-            return ∇
-        end
-    else
-        Δt_T_index = index(traj.T, traj.components[traj.timestep][1], traj.dim)
-        L = Z⃗::AbstractVector{<:Real} -> D * Z⃗[Δt_T_index]
-        ∇L = (Z⃗::AbstractVector{<:Real}) -> begin
-            ∇ = zeros(eltype(Z⃗), length(Z⃗))
-            ∇[Δt_T_index] = D
-            return ∇
-        end
 
+    Δt_index = traj.components[traj.timestep][1]
+    Δt_indices = [index(t, Δt_index, traj.dim) for t = 1:traj.T-1]
+
+    L = Z⃗::AbstractVector{<:Real} -> D * sum(Z⃗[Δt_indices])
+
+    ∇L = (Z⃗::AbstractVector{<:Real}) -> begin
+        ∇ = zeros(eltype(Z⃗), length(Z⃗))
+        ∇[Δt_indices] .= D
+        return ∇
     end
 
 	∂²L = Z⃗::AbstractVector{<:Real} -> []