%% setupSolver
% Creates a solver for the optimal control problem.
%
%% Syntax
%
% <html>
%        <div class="syntax">
% obj = setupSolver(obj,X,U) <br>
%        </div>
% </html>
%
%% Description
% This function creates a solver for the optimal control problem
% using CasADi's [2] |'ipopt'| plugin, which provides an interface to
% IPOPT [1].
%
%% Input Arguments
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            obj
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            instance of class optimalControl
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            X
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of admissible states
%            (class: polytope)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            U
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of admissible control inputs
%            (class:polytope)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% Output Arguments
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            obj
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            updated instance of class optimalControl
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <optimalControlhelp.html |optimalControl|>
%
%% References
% [1] A. Wächter and L. T. Biegler, 'On the Implementation of a
% Primal-Dual Interior Point Filter Line Search Algorithm for
% Large-Scale Nonlinear Programming',
% Mathematical Programming 106(1), pp. 25-57, 2006
% [2] J. A. E. Andersson et al., 'CasADi – A software framework
% for nonlinear optimization and optimal control',
% Mathematical Programming Computation, vol. 11, no. 1,
% pp. 1–36, 2019.
%

%%
% <html>
%   <hr>
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%        <tt class="minicdot">&#149;</tt>
%        <a href="https://tumcps.github.io/AROC/">Website</a>
%        <tt class="minicdot">&#149;</tt>
%        <a href="file:txts/LICENSE.txt">License</a>
%   </p>
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