Update problem constructor

src/problem.jl

@@ -81,14 +81,15 @@ function Problem(models::Vector{<:DiscreteDynamics}, obj::O, x0::AbstractVector,
     if dt isa Real
         dt = fill(dt,N)
     end
-	@assert sum(dt[1:N-1]) ≈ tf "Time steps are inconsistent with final time"
+	@assert sum(dt[1:N-1]) ≈ tf - t0 "Time steps are inconsistent with final time"
     if X0 isa AbstractMatrix
         X0 = [X0[:,k] for k = 1:size(X0,2)]
     end
     if U0 isa AbstractMatrix
         U0 = [U0[:,k] for k = 1:size(U0,2)]
     end
     Z = SampledTrajectory{Nx,Nu}(X0,U0,dt=dt)
+    RD.setinitialtime!(Z, t0)
 
     Problem(models, obj, constraints, MVector{nx[1]}(x0), MVector{nx[end]}(xf),
         Z, N, t0, tf)

test/hybrid_dynamics_model.jl

@@ -47,7 +47,7 @@ models = [
     jumpmap
     [copy(model2) for k = 1:4];
 ]
-eltype(models) isa UnionAll 
+@test eltype(models) isa UnionAll 
 models2 = [copy(model1) for k = 1:10]
 nx, nu = RD.dims(models)
 @test nx == [4,4,4,4,4, 4, 2,2,2,2,2]