Tu Nu - 2017-12-04

Dear all and Matthew,

I want to use Adigator for NLP with IPopt. But since I am very new to both of them, could you provide an example to show:
1. How to write objective funtion?
2. How to write equations of dynamics?
3. How to write constraints?
4. How to use Agigator to generate 1st and 2nd derivatives for the above three and use them for IPopt?

I found one example in the "example" folder but with IPopt, but only with objective function. It is very aprreicated if there is an example including the requested above points.

Thank you very much.