Possible wider applications of opty

[Peter230655]

I have tried maybe 20 examples out of John T. Betts' book Practical Method for Optimal Control Using Nonlinear Programming, 3rd edition. Some are on pst-notebooks, some I pushed to examples-gallery, some I simply did not mange to get to converge.
The two major 'hindrances' to do more examples seem to be:

• opty cannot accept inequalities in the DAEs. In some cases this may be circumvented by adding state variables, see e.g. PR Betts 10 1 #269
• opty cannot accept (I believe) instance constraints or bounds which depend on the values of other state or control variables at some point in time (see also 'idea' # 264. In some cases this may be circumvented by adding state variables, see e.g. PR Examples 10.73 and 10.74 from Betts' book #271 Update as of 10-12-24: opty CAN accept instance constraints such as $x_2(t_0) = x_1(t_f)$. I have not checked this for bounds.