Optimal control interface#374

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ErikQQY wants to merge 6 commits intomasterfrom

qqy/optimal_control

Commits on Sep 15, 2025

Optimal control interface
ErikQQY
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Commits on Sep 23, 2025

Tweak for docs
ErikQQY
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Commits on Oct 9, 2025

Change the position of constraints
ErikQQY
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Commits on Oct 13, 2025