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.