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Abstract

A method, performed by a computer device, may include generating a first executable graphical model representing a dynamic system and generating a second executable graphical model representing costs and constraints associated with the dynamic system. The method may further include generating an interface model based on the first and second executable graphical models; obtaining one or more solution parameters for solving a trajectory optimization problem defined by the dynamic system and the cost and constraints; expanding the generated interface model based on the obtained one or more solution parameters to generate a direct transcription representation of the trajectory optimization problem; evaluating the expanded interface model to obtain a solution to the trajectory optimization problem; and providing, in an interface, the solution as a solution to the trajectory optimization problem, wherein the solution has a reduced cost compared to a cost associated with an initial guess solution.

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