A Python package for solving optimal control problems using pseudospectral methods.
copied from cf-staging / yapssYAPSS is a Python package for numerically solving multi-phase optimal control problems using pseudospectral methods, similar to the GPOPS-II algorithm. The package supports multiple differentiation methods, including automatic differentiation using CasADi, as well as numerical derivatives found by central difference methods for problems that cannot be differentiated by automatic methods. YAPSS supports multiple collocation methods, including Legendre-Gauss (LG), Legendre-Gauss-Radau (LGR), and Legendre-Gauss-Lobatto (LGL) collocation points. The mesh structure can be specified by the user to improve the accuracy of the solution.
