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