Benchmark of optimal control problems - Comparison of coordinate and dynamic formulations

They were solved using 8 models of different complexity (from 3 to 10 degrres of freedom - DoF), with 4 types of coordinates (absolute, natural, relative from hip and relative from ankle), and with two dynamic formulations (implicit and explicit). Each folder contains the files needed to run the optimal control problems for each DoF model.

In each folder, one can find four files starting with "main_...", which contains the optimal control problems for each type of coordinate. The user can run the optimal control problems running the files starting with "main_...". At the beginning of these files, the user can choose either solving the optimal control problems using an implicit dynamic formulation (Options.Implicit=1) or using an explicit dynamic formulation (Options.Implicit=0).