The existing docs only contain basic usage guide for Opti(). It will be nice if more docs are provided for Opti stack, especially for to_function and options.

I noticed that complete_global_plan is not listed on the wiki page, and I only found it when I started to dig around in the code. It is read in as a param in teb_config.cpp. I had an issue where goal_reached_ would not return true

Members and scientific notation has not been referenced or documented. Sometimes it is quite hard to guess what variables are. We should document them in each header.

This is particularly annoying if the notebook is on a cloud service like our JupyterHub cause you have no idea what is going on.

SSTO Linear Tangent docs need to be updated - currently don't contain the correct code.
Multi-phase cannonball contains a math display error that needs to be corrected.

• Cannot use Moco and OpenSim simultaneously
• Explain how to contribute (to documentation)
• Embed doxygen into the Jekyll site (https://stackoverflow.com/questions/21174141/embed-doxygen-documentation-in-another-site)
• Provide dropdown for documentation versions (see https://docs.opencv.org/3.4.7/d4/db1/tutorial_documentation.html).
• Getting a list of all states and con

It would be good if
https://nbviewer.jupyter.org/gist/goerz/21e46ea7b45c9514e460007de14419bd/Krotov_time_discretization.ipynb# (which is linked from the documentation) could be updated to use krotov 1.0