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Ensure first step jerk is penalized#34

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grekiki2 wants to merge 1 commit intocommaai:masterfrom
grekiki2:offbyone
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Ensure first step jerk is penalized#34
grekiki2 wants to merge 1 commit intocommaai:masterfrom
grekiki2:offbyone

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The current cost formulation doesn't penalize the jerk due to the first controller action. This PR fixes that.

@haraschax haraschax closed this Jan 16, 2026
@grekiki2 grekiki2 deleted the offbyone branch January 16, 2026 08:05
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