大部分GPOPS工具包都不包含哈密顿函数，本文在上述基础上，增加了哈密顿函数的求解，方便显示和验证结果的最优性！-Most GPOPS kit does not include the Hamiltonian function, in this paper, based on the above, the increase in the solution of the Hamiltonian function, convenient o

常用的非线性规划求解工具，优化软件工具包(Commonly used nonlinear programming solver, optimization software toolkit)