Remove unused variables in test_optimal_doc

roryyorke · roryyorke · commit ff4d7b68e335 · 2025-02-16T19:43:51.000+02:00
diff --git a/control/tests/optimal_test.py b/control/tests/optimal_test.py
@@ -731,8 +731,6 @@ def vehicle_output(t, x, u, params):
         initial_guess[0, :] = (xf[0] - x0[0]) / Tf
 
         # Steering = rate required to turn to proper slope in first segment
-        straight_seg_length = timepts[-2] - timepts[1]
-        curved_seg_length = (Tf - straight_seg_length)/2
         approximate_angle = math.atan2(xf[1] - x0[1], xf[0] - x0[0])
         initial_guess[1, 0] = approximate_angle / (timepts[1] - timepts[0])
         initial_guess[1, -1] = -approximate_angle / (timepts[-1] - timepts[-2])
