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OpenMDAO · Aug 23, 2023 · 55634d4 · 55634d4
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diff --git a/_modules/dymos/phase/phase.html b/_modules/dymos/phase/phase.html
diff --git a/_modules/dymos/trajectory/trajectory.html b/_modules/dymos/trajectory/trajectory.html
diff --git a/api/phase_api.html b/api/phase_api.html
diff --git a/api/trajectory_api.html b/api/trajectory_api.html
@@ -593,7 +593,7 @@ <h2>add_parameter<a class="headerlink" href="#add-parameter" title="Permalink to
 <blockquote>
 <div><dl class="py method">
 <dt class="sig sig-object py">
-<span class="sig-prename descclassname"><span class="pre">Trajectory.</span></span><span class="sig-name descname"><span class="pre">add_parameter</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">units</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">val</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">desc</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">opt</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">targets</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lower</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">upper</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scaler</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">adder</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ref0</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ref</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">shape</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dynamic</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">static_target</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/dymos/trajectory/trajectory.html#Trajectory.add_parameter"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Trajectory.</span></span><span class="sig-name descname"><span class="pre">add_parameter</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">units</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">val</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">desc</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">opt</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">targets</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">lower</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">upper</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scaler</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">adder</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ref0</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ref</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">shape</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dynamic</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">static_target</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">static_targets</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">unspecified</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="../_modules/dymos/trajectory/trajectory.html#Trajectory.add_parameter"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a parameter (static control) to the trajectory.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
@@ -636,6 +636,12 @@ <h2>add_parameter<a class="headerlink" href="#add-parameter" title="Permalink to
 <dt><strong>static_target</strong><span class="classifier">bool or _unspecified</span></dt><dd><p>True if the targets in the ODE are not shaped with num_nodes as the first dimension
 (meaning they cannot have a unique value at each node).  Otherwise False.</p>
 </dd>
+<dt><strong>static_targets</strong><span class="classifier">bool or Sequence or _unspecified</span></dt><dd><p>True if ALL targets in the ODE are not shaped with num_nodes as the first dimension
+(meaning they cannot have a unique value at each node).  If False, ALL targets are
+expected to be shaped with the first dimension as the number of nodes. If given
+as a Sequence, it provides those targets not shaped with num_nodes. If left _unspecified,
+static targets will be determined automatically.</p>
+</dd>
 </dl>
 </dd>
 </dl>

diff --git a/contributing/contributing.html b/contributing/contributing.html
@@ -731,21 +731,21 @@ <h2>Notebook Creation<a class="headerlink" href="#notebook-creation" title="Perm
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
 | of &#39;&lt;variable&gt;&#39; | wrt &#39;&lt;variable&gt;&#39; |   calc mag. |  check mag. |  a(cal-chk) |  r(cal-chk) | error desc |
 +=================+==================+=============+=============+=============+=============+============+
-| &#39;check&#39;         | &#39;theta&#39;          |  1.3684e+01 |  1.3684e+01 |  1.8874e-15 |  1.3793e-16 |            |
+| &#39;check&#39;         | &#39;theta&#39;          |  3.5602e+01 |  3.5602e+01 |  9.9650e-16 |  2.7990e-17 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;check&#39;         | &#39;v&#39;              |  2.7765e+00 |  2.7765e+00 |  2.2204e-16 |  7.9972e-17 |            |
+| &#39;check&#39;         | &#39;v&#39;              |  3.2643e+00 |  3.2643e+00 |  5.4390e-16 |  1.6662e-16 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;vdot&#39;          | &#39;theta&#39;          |  1.8494e+01 |  1.8494e+01 |  0.0000e+00 |  0.0000e+00 |            |
+| &#39;vdot&#39;          | &#39;theta&#39;          |  1.8530e+01 |  1.8530e+01 |  3.9721e-15 |  2.1436e-16 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
 | &#39;vdot&#39;          | &#39;v&#39;              |  0.0000e+00 |  0.0000e+00 |  0.0000e+00 |         nan |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;xdot&#39;          | &#39;theta&#39;          |  6.9786e+00 |  6.9786e+00 |  6.6613e-16 |  9.5453e-17 |            |
+| &#39;xdot&#39;          | &#39;theta&#39;          |  6.6754e+00 |  6.6754e+00 |  9.1552e-16 |  1.3715e-16 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;xdot&#39;          | &#39;v&#39;              |  1.8859e+00 |  1.8859e+00 |  1.1102e-16 |  5.8870e-17 |            |
+| &#39;xdot&#39;          | &#39;v&#39;              |  1.8895e+00 |  1.8895e+00 |  2.4825e-16 |  1.3139e-16 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;ydot&#39;          | &#39;theta&#39;          |  1.0907e+01 |  1.0907e+01 |  0.0000e+00 |  0.0000e+00 |            |
+| &#39;ydot&#39;          | &#39;theta&#39;          |  1.0161e+01 |  1.0161e+01 |  1.3506e-15 |  1.3292e-16 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;ydot&#39;          | &#39;v&#39;              |  1.2014e+00 |  1.2014e+00 |  0.0000e+00 |  0.0000e+00 |            |
+| &#39;ydot&#39;          | &#39;v&#39;              |  1.1957e+00 |  1.1957e+00 |  1.2413e-16 |  1.0381e-16 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
 
 ##################################################################
@@ -754,7 +754,7 @@ <h2>Notebook Creation<a class="headerlink" href="#notebook-creation" title="Perm
 +-----------------+------------------+-------------+-------------+-------------+-------------+
 | of &#39;&lt;variable&gt;&#39; | wrt &#39;&lt;variable&gt;&#39; |   calc mag. |  check mag. |  a(cal-chk) |  r(cal-chk) |
 +=================+==================+=============+=============+=============+=============+
-| &#39;check&#39;         | &#39;theta&#39;          |  1.3684e+01 |  1.3684e+01 |  1.8874e-15 |  1.3793e-16 |
+| &#39;vdot&#39;          | &#39;theta&#39;          |  1.8530e+01 |  1.8530e+01 |  3.9721e-15 |  2.1436e-16 |
 +-----------------+------------------+-------------+-------------+-------------+-------------+
 </pre></div>
 </div>