However, the algorithms are easy to use because default values are set for every optional input. Matrix sparsity patterns. QP iteration histories. Linear algebra operations. Optimal control mesh refinement.
All software performs extensive checks on the user input.
Software updates are reflected in document revisions. The computational algorithms used in the SOCS software family are described in the book Practial Methods for Optimal Control using Nonlinear Programming . Information on this book is available at the SIAM website .