The implementation has the following features:

• Choice between Legendre, Chebyshev, central differences, trapezoidal or Hermite-Simpson discretization.

• Large scale nonlinear programming using IPOPT

• Estimation of the discretization error.

• Automatic mesh refinement.

• Automatic scaling

• Automatic differentiation using the ADOL-C library

• Numerical differentiation by using sparse finite differences

• Automatic identification of the sparsity of the derivative matrices.

• DAE formulation, so that differential and algebraic constraints can be implemented in the same C++ function.

• Easy to use interface to GNUplot to produce graphical output, including 2D plots, 3D curves and surfaces, and polar plots.

• Automatic generation of LaTeX code to produce a table that summarizes the mesh refinement process.