# 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