Expand description
Direct collocation for optimal control.
Transcribes an optimal control problem into a nonlinear programme (NLP) by parameterising states and controls at mesh nodes and enforcing dynamics via collocation defect constraints.
Two collocation schemes are supported:
-
Trapezoidal: 2nd-order, simplest. Defect constraint:
x_{k+1} - x_k - (h/2)*(f_k + f_{k+1}) = 0 -
Hermite-Simpson: 3rd-order, the industry standard for direct collocation. Uses a midpoint and cubic Hermite interpolation.
Author: Moussa Leblouba Date: 9 February 2026 Modified: 2 May 2026
Structs§
- Collocation
Problem - Builder for direct collocation optimal control problems.
- Collocation
Result - Result of a direct collocation solve.
Enums§
- Collocation
Scheme - Collocation scheme.