Indirect Optimization Library Module¶
Introduction¶
This module automates the indirect optimization process.
| Valid methods |
|---|
| indirect |
| diffyg |
| direct |
Indirect and Diffy G¶
Given an OCP \(\Sigma\), indirect-style methods create a dual BVP \(\Lambda\) as follows:
\[\Lambda = (E \circ \lambda)(\Sigma)\]
After compiling the resulting BVP \(\Lambda\), it can be solved by most algorithms in the BVP Solver Module.
There are two indirect-style methods available. To read more, see:
Direct¶
Given an OCP \(\Sigma\), direct-style methods pass through the majority of OCP info unmodified. The result is compiled and discretization occurs in the BVP Solver Module. Not all BVP solvers are compatible with direct-style methods.
