# Using CasADi for Trajectory Optimization

Using Van der Pol oscillator as a placeholder.

\[{\displaystyle {d^{2}x \over dt^{2}}-\mu (1-x^{2}){dx \over dt}+x=0,}\]*This post is a work in progress*

Chenna Kautilya | Makes Robots Move

Using Van der Pol oscillator as a placeholder.

\[{\displaystyle {d^{2}x \over dt^{2}}-\mu (1-x^{2}){dx \over dt}+x=0,}\]*This post is a work in progress*