Templates

In addition to the examples, we also provide templates to facilitate the implementation.

To take advantage of the different structures of the problems, we have implemented templates for the following problem types.

• Time-variant Problem
• Autonomous Problem
• Linear Quadratic Problem

Note

Any problem, whether nonlinear, linear, autonomous, or time-varying, can be initialized as a nonlinear time-varying optimal control problem. Therefore, you can always fall back on such an implementation. However, if you know the structure of your problem and this is to be exploited by the program in order to possibly speed up the simulation, it is necessary to initialize the problem as such.