Midpoint

DOCP_Hessian_pattern(
    docp::CTDirect.DOCP{CTDirect.Midpoint}
) -> SparseArrays.SparseMatrixCSC{Bool, Int64}

Build sparsity pattern for Hessian of Lagrangian

DOCP_Jacobian_pattern(
    docp::CTDirect.DOCP{CTDirect.Midpoint}
) -> SparseArrays.SparseMatrixCSC{Bool, Int64}

Build sparsity pattern for Jacobian of constraints

setStepConstraints!(
    docp::CTDirect.DOCP{CTDirect.Midpoint},
    c,
    xu,
    v,
    time_grid,
    i,
    work
) -> Any

Set the constraints corresponding to the state equation Convention: 1 <= i <= dimNLPsteps+1

setWorkArray(
    docp::CTDirect.DOCP{CTDirect.Midpoint},
    xu,
    time_grid,
    v
) -> Any

Set work array for all dynamics and lagrange cost evaluations