Getting Started

This guide will help you get started with Fatrop, a fast trajectory optimization package.

Different Interfaces

Fatrop offers two main interfaces:

1. Low-level Interface

The low-level interface is suitable for:

  • Power users who want to implement low-overhead function evaluation

  • Users who want to interface their own framework

For examples, refer to the C++ examples in the examples directory.

2. CasADi Interface

The CasADi interface is recommended for most users, offering:

  • Easy-to-use symbolic manipulation

  • State-of-the-art automatic differentiation

  • Access to different solvers beyond fatrop

This interface is recommended for most users. Refer to the examples and cookbook for usage.

Next Steps