PROPT has three main functions:

  • Computation of the constant matrices used for the differentiation and integration of the polynomials used to approximate the solution to the trajectory optimization problem.
  • Source transformation to turn user-supplied expressions into optimized Matlab code for the cost function f and constraint function c (with two levels of analytical derivative). The files are passed to a nonlinear programming solver (by default) in TOMLAB for final processing.
  • Functionality for plotting and computing a variety of information for the solution to the problem.