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 optimal display and verify the

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)