Generate trapezoidal collocation constraints

Hi @MatthewPeterKelly ,

Excuse me fro the naive question. I'm new here
I'd like to know if the user should always define the constraints (eg. non-linear equality constraints)
for solving the trajectory optimization problem.
For example, The system dynamics that I want to provide as a set of constraints is of the form
dS/dt = -AS. (this represents the dynamics of a graph network)

S is a vector and A is a matrix.

I would like to know if it is possible to automatically generate trapezoidal collocation constraints using OptimTraj. I'd like to supply these constraints to fmincon

The complete description of the problem can be found here

Start by reading OptimTraj's existing trajectory-optimization interfaces and the fmincon constraint contract, then compare them with the linked parameter-estimation problem and the dS/dt = -AS example. Done means the project explicitly supports or rejects automatic trapezoidal collocation-constraint generation, with the expected inputs and outputs documented.