| version | 5 |
|---|---|
| layout | api |
| last_modified_at | 2019-04-17 |
| permalink | /api-docs/v5/ |
| title | API documentation v6 |
| pid | api |
In OpenOCL you can solve a large class of optimal control problems including non-linear, continuous-time, multi-stage, and constrained problems, which can appear in the context of trajectory optimization and model predictive control. The types of dynamical systems that are supported are all systems that can be described by ordinary differential equations or differential algebraic equations.
We introduced some new concepts that should make it as easy as possible for you to model optimal control problems, in particular the notion of grid-costs and grid-constraints that can be very handy when implementing tracking problems. In the following we give a short introduction to the concepts used and introduced in OpenOCL.
We support bounds that hold along the entire trajectory, and grid-constraints that hold only at specific gridpoints in the discretized trajectory.
For the cost terms you can specify path-costs that are integrated along the trajectory (also known as Lagrange term), and grid-costs that can be specified for specific points on the discretized trajectory.