Pontryagin's maximum principle with state constraints at specific points but they are not initial and final points

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i am solving Pontryagin's Maximum Principle (PMP) but in my case x(t0) are fixed instead of x(tf), it is x(t1) is fixed where as t1 is some point which lies between t0 and tf. How can i solve such a problem..should i first solve from to to t1 and then t1 to tf?but i want to solve it as single intersection? plz guide me