%% solveOCP
% Solves an instance of the optimal control problem.
%
%% Syntax
%
% <html>
%        <div class="syntax">
% sol = solveOCP(obj,y0,x0) <br>
%        </div>
% </html>
%
%% Description
% This function solves the optimal control problem given the initial
% state x0 of the dynamical system and an initial guess y0 (all
% optimization variables including the states, control inputs, and
% slack variables).
%
%% 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">
%            y0
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            initial guess
%            (double array of dimension [obj.idxVars.nVars, 1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            x0
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            initial state of the dynamical system
%            (double array of dimension [obj.nx, 1])
%        </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">
%            sol
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            solution to the optimal control problem - structure
%            with the following fields
%        </p>
%        <p class="table">
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="inner">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .isFeasible
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            true, if IPOPT converged to a feasible solution
%            (boolean)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .x
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            optimal state trajectory
%            (double array of dimension [obj.nx, obj.N+1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .u
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            optimal control input trajectory
%            (double array of dimension [obj.nu, obj.N])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .slack_bu
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            optimal slack variables - softened bounds on
%            the control inputs
%            (double array)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <matlab:doc('-') ->
%

%%
% <html>
%   <hr>
%   <p class="copy">&copy; 2018-2026 I6 Technische Universit&auml;t M&uuml;nchen
%        <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>
% <div>
% <table>
%  <tr>
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%      </td>
%   <td style="background-color:#ffffff; border:0; width:25%; vertical-align:middle; text-align:center">
%      <img src="img/logoCora.png" alt="logoCora" height="40px"></td>
%   <td style="background-color:#ffffff; border:0; width:25%; vertical-align:middle; text-align:center">
%      <img src="img/logoChair.png" alt="logoChair" height="40px"></td>
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%  </tr>
% </table>
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