Projects

pockit is a Python toolkit for numerically solving multi-phase optimal-control problems. It provides a SymPy-based modeling interface and accelerates sparse derivative evaluation with Numba and vectorization.

naive_planner is a minimal C++20 implementation that transcribes continuous-time optimal-control problems with multi-interval LGR collocation. It generates sparse analytic derivatives with SymPy and solves the resulting nonlinear programs through Ipopt.