in the 'reach' function of the ellipsoidal toolbox one of the parameter is L0 called "the direction" in the toolbox manual. I supposed it was the direction i aim to move the state x. So, if x0 is the initial state ed xf the desidered state i did L0=xf-x0 as direction. I expected the center of ellipsoids moving in that direction, but each set of the computed sequence as the center in x0. It hasn't be moved at all.