# initialGuessInterpolate

Initial guess for the optimal control problem.

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also

## Syntax

y0 = initialGuessInterpolate(obj,x0,xf)

## Description

This function computes an initial guess for the optimal control problem by linearly interpolating between the initial and a given final state. The control inputs as well as all auxiliary varibales (e.g. slack variables) are set to zero.

## Input Arguments

obj | instance of class optimalControl
x0 | initial state (double array of dimension [obj.nx,1])
xf | final state (double array of dimension [obj.nx,1])

## Output Arguments

y0 | initial guess for the optimal control problem (double array of dimension [obj.idxVars.nVars,1])

## See Also

-

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