Pockit API reference

Pockit is a Python toolkit for numerical optimal control. It supports single-phase and multiphase problems using Legendre-Gauss-Lobatto (LGL) and Legendre-Gauss-Radau (LGR) pseudospectral methods. Models are defined with SymPy expressions, and their derivatives are generated symbolically and evaluated with compiled, vectorized functions.

Problems can be solved with Ipopt or SciPy and may include path, algebraic, boundary, and integral constraints. See the user guide for tutorials and the GitHub repository for source code and examples.