How I can Change The Order Of Trajectory ???

[imamim]

Hello thx for your work.

When I try to change the order of trajectory I get stuck. In the get_constraints() function the indexing of Mapping Matrix A only for order = 10.
(eg. A[6n + 4i : 6n + 4(i+1), oi : o(i+1)], when o =7 , shape of A = (21,21) , indexing start at 21 then becomes (0,7) shape of array)
How we can automate this indexing ?

I couldn't understand it even though I tried really hard. I'm waiting for your help. Thank you