# truck data
let nh := 1000;
let xs[1] := 0.0;
let xs[2] := 0.0;
let xs[3] := 0.0;
let xs[4] := 0.0;
let xf[1] := -3/4*pi;
let xf[2] := 0.0;
let xf[3] := 1.3;
let xf[4] := -.3;
let u_min := -5/3;
let u_max := 5/3;
# Initial guess
let d := 1;
let kappa := 1e-8;
let {k in 0..nh} u[k] := u_max-2*k/nh*u_max; # steering angle
let {k in 0..nh} x[k,1] := 0; # psi
let {k in 0..nh} x[k,2] := 0; # alpha
let {k in 0..nh} x[k,3] := k/nh; # x
let {k in 0..nh} x[k,4] := k/nh; # y