using NLOptControl, PrettyPlots

n = define(numStates=6,numControls=3,X0=[9/2,0.0,0.0,0.0,pi/4,0.0],XF=[9/2,0.0,2*pi/3,0.0,pi/4,0.0],XL=[NaN,NaN,NaN,0.0,NaN,NaN],XU=[NaN,NaN,NaN,1.0,NaN,NaN],CL=[-1.,-1.,-1.],CU=[1.,1.,1.])

EP = 2*eps(); # to avoid divide/0
Q = 5

# expressions
I_t = :((($Q-x1[j])^3+x1[j]^3)/3*sin(x5[j])^2)
I_p = :((($Q-x1[j])^3+x1[j]^3)/3 )

# Diff Eqs
dx = Array{Expr}(6,)
dx[1] = :(x2[j])
dx[2] = :(u1[j]/$Q)
dx[3] = :(x4[j])
dx[4] = :(u2[j]/($I_t+$EP))
dx[5] = :(x6[j])
dx[6] = :(u3[j]/($I_p+$EP))

:(u3[j] / (((5 - x1[j]) ^ 3 + x1[j] ^ 3) / 3 + 4.440892098500626e-16))

dynamics!(n,dx)

configure!(n;(:finalTimeDV=>true))

@NLobjective(n.ocp.mdl,Min,n.ocp.tf)

optimize!(n)

******************************************************************************
This program contains Ipopt, a library for large-scale nonlinear optimization.
 Ipopt is released as open source code under the Eclipse Public License (EPL).
         For more information visit http://projects.coin-or.org/Ipopt
******************************************************************************

allPlots(n)