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<!DOCTYPE html>
<html lang="en"><head><meta charset="UTF-8"/><meta name="viewport" content="width=device-width, initial-scale=1.0"/><title>Initial guess · OptimalControl.jl</title><meta name="title" content="Initial guess · OptimalControl.jl"/><meta property="og:title" content="Initial guess · OptimalControl.jl"/><meta property="twitter:title" content="Initial guess · OptimalControl.jl"/><meta name="description" content="Documentation for OptimalControl.jl."/><meta property="og:description" content="Documentation for OptimalControl.jl."/><meta property="twitter:description" content="Documentation for OptimalControl.jl."/><script data-outdated-warner src="../assets/warner.js"></script><link href="https://cdnjs.cloudflare.com/ajax/libs/lato-font/3.0.0/css/lato-font.min.css" rel="stylesheet" type="text/css"/><link href="https://cdnjs.cloudflare.com/ajax/libs/juliamono/0.050/juliamono.min.css" rel="stylesheet" type="text/css"/><link 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class="control"><span class="docs-label button is-static is-size-7">Version</span></div><div class="docs-selector control is-expanded"><div class="select is-fullwidth is-size-7"><select id="documenter-version-selector"></select></div></div></div></nav><div class="docs-main"><header class="docs-navbar"><a class="docs-sidebar-button docs-navbar-link fa-solid fa-bars is-hidden-desktop" id="documenter-sidebar-button" href="#"></a><nav class="breadcrumb"><ul class="is-hidden-mobile"><li class="is-active"><a href="init.html">Initial guess</a></li></ul><ul class="is-hidden-tablet"><li class="is-active"><a href="init.html">Initial guess</a></li></ul></nav><div class="docs-right"><a class="docs-navbar-link" href="https://github.com/control-toolbox/OptimalControl.jl" title="View the repository on GitHub"><span class="docs-icon fa-brands"></span><span class="docs-label is-hidden-touch">GitHub</span></a><a class="docs-navbar-link" href="https://github.com/control-toolbox/OptimalControl.jl/blob/main/docs/src/api-ctbase/init.md" title="Edit source on GitHub"><span class="docs-icon fa-solid"></span></a><a class="docs-settings-button docs-navbar-link fa-solid fa-gear" id="documenter-settings-button" href="#" title="Settings"></a><a class="docs-article-toggle-button fa-solid fa-chevron-up" id="documenter-article-toggle-button" href="javascript:;" title="Collapse all docstrings"></a></div></header><article class="content" id="documenter-page"><h1 id="api-ctbase-init"><a class="docs-heading-anchor" href="#api-ctbase-init">Initial guess</a><a id="api-ctbase-init-1"></a><a class="docs-heading-anchor-permalink" href="#api-ctbase-init" title="Permalink"></a></h1><h2 id="Index"><a class="docs-heading-anchor" href="#Index">Index</a><a id="Index-1"></a><a class="docs-heading-anchor-permalink" href="#Index" title="Permalink"></a></h2><ul><li><a href="init.html#CTBase.OptimalControlInit"><code>CTBase.OptimalControlInit</code></a></li></ul><h2 id="Documentation"><a class="docs-heading-anchor" href="#Documentation">Documentation</a><a id="Documentation-1"></a><a class="docs-heading-anchor-permalink" href="#Documentation" title="Permalink"></a></h2><article class="docstring"><header><a class="docstring-article-toggle-button fa-solid fa-chevron-down" href="javascript:;" title="Collapse docstring"></a><a class="docstring-binding" id="CTBase.OptimalControlInit" href="#CTBase.OptimalControlInit"><code>CTBase.OptimalControlInit</code></a> — <span class="docstring-category">Type</span><span class="is-flex-grow-1 docstring-article-toggle-button" title="Collapse docstring"></span></header><section><div><p>Initial guess for OCP, contains</p><ul><li>functions of time for the state and control variables</li><li>vector for optimization variables</li></ul><p>Initialization data for each field can be left to default or: </p><ul><li>vector for optimization variables</li><li>constant / vector / function for state and control </li><li>existing solution (&#39;warm start&#39;) for all fields</li></ul><p><strong>Constructors:</strong></p><ul><li><code>OptimalControlInit()</code>: default initialization</li><li><code>OptimalControlInit(state, control, variable, time)</code>: constant vector, function handles and / or matrices / vectors interpolated along given time grid</li><li><code>OptimalControlInit(sol)</code>: from existing solution</li></ul><p><strong>Examples</strong></p><pre><code class="language-julia-repl hljs">julia&gt; init = OptimalControlInit()
julia&gt; init = OptimalControlInit(state=[0.1, 0.2], control=0.3)
julia&gt; init = OptimalControlInit(state=[0.1, 0.2], control=0.3, variable=0.5)
julia&gt; init = OptimalControlInit(state=[0.1, 0.2], controlt=t-&gt;sin(t), variable=0.5)
julia&gt; init = OptimalControlInit(state=[[0, 0], [1, 2], [5, -1]], time=[0, .3, 1.], controlt=t-&gt;sin(t))
julia&gt; init = OptimalControlInit(sol)</code></pre></div><a class="docs-sourcelink" target="_blank" href="https://github.com/control-toolbox/CTBase.jl/blob/v0.13.1/src/init.jl#L117">source</a></section></article><script type="module">import mermaid from 'https://cdn.jsdelivr.net/npm/mermaid@10/dist/mermaid.esm.min.mjs';
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