Free Final Time

Set <final_time_range> (in [s]) to modify allow final time to change. The final time is set as follows:

$$maxFinalTime = finalExperimentalTime + finalTimeRange;$$

$$minFinalTime = finalExperimentalTime - finalTimeRange;$$

If final_time_range is set to 0, the final time won't change.

Free final time settings:

<RCNLDesignVariableBoundsTerms>
    <joint_positions_multiple></joint_positions_multiple>
    <joint_velocities_multiple></joint_velocities_multiple>
    <joint_accelerations_multiple></joint_accelerations_multiple>
    <joint_jerks_multiple></joint_jerks_multiple>
    <final_time_range></final_time_range>
    .
    .
</RCNLDesignVariableBoundsTerms>