Design and imlpement OCPMaker #313
Description
About: Design and implement a wrapper that will facilitate the construction of optimal control problems.
Details: The user will provide the main ingredients of the optimal control problem and the OCPMaker (or OCPBuilder) will construct a parametric optimisation problem. The main ingredients of an optimal control problem are:
- the system dynamics,
$x_{t+1} = F(x_t, u_t)$ - the prediction horizon,
$N$ - the stage cost function,
$\ell(x, u)$ - the terminal cost function,
$V_f(x)$ - input constraints,
$u_t \in U$ - possible state-input constraints of the form
$g(x_t, u_t) \leq 0$ - set exclusion constraints,
$x_t \notin C$
Additional context:: PR #284 has stalled; a fresh approach is required. The development will be in Python.