To get started with Yop you can either start from examples, you can visit the Yop examples page. You can also read more about Yop under the different categories.

# Basics

The basics of Yop can be understood from the three base classes `YopSystem`

, `YopOcp`

, and `YopSimulator`

.

The `YopSystem`

class is used for representing systems, or models. This is necessary in order to formulate and solve optimal control problems (OCPs), and for setting up simulations. More information about `YopSystem`

is found at the `YopSystem`

page.

The `YopOcp`

class is used for formulating and solving optimal control problems. More information on this class is found at the `YopOcp`

page.

The `YopSimulator`

class is used for simulations. The main purpose of this class is to be used as a way of finding an initial guess for non-convex optimal control problems. The class supports semi-explicit DAEs of differential index 1. The main idea of supporting DAEs of index one is the ability to connect ODEs consisting of a system and a controller via an algebraic constraint. More info is found at the `YopSimulator`

page.

## Links `YopSystem`

## Links `YopOcp`

Formulating optimal control problems

How to provide an initial guess

How to solve optimal control problems

## Links `YopSimulator`