The package features an expressive domain-specific language (DSL) built around the `@def` macro, enabling users to define control problems using notation that closely resembles standard mathematical formulations. Problems are solved through direct transcription, converting the continuous problem into a nonlinear program (NLP) using discretization schemes including Euler, trapezoidal, midpoint, and high-order Gauss-Legendre collocation. Alternatively, indirect shooting methods based on Pontryagin's Maximum Principle can be employed. The architecture relies on a modeler-solver separation that provides a modular and extensible foundation, enabling GPU execution (currently limited to NVIDIA hardware) with minimal user intervention alongside standard CPU solvers.
0 commit comments