Optimal control problems are formulated using the `YopOcp`

class. How to declare, formulate and solve optimal control problems are found under the different topics:

### Formulating optimal control problems

An in-depth description on how to formulate optimal control problems are found at the OCP formulation page.

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Declaring optimal control problems

Declaring the objective function

How to formulate individual constraints

Information on box constraints

### Initial guess

To be able to solve non-convex optimal control problems an initial guess may be necessary. For a description on how to provide and initial guess, see the initial guess page.

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Omitting to provide an initial guess

Using simulation to find an initial guess

Using an old solution as initial guess

Providing a general initial guess

Setting the initial guess to a fixed value

### Solving optimal control problems

How to solve optimal control problems, how the results are obtained, and the available settings are found at the solving optimal controls problems page.

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Speed-up by re-parameterizing the problem

An example of re-parametrization