在给定系统二阶模型、初值、终值、边界约束和路径约束、目标函数的情况下，该程序可利用hp-自使用伪谱法解算出系统从初值到终值的最优轨迹。(Given the second-order model, initial value, final value, boundary constraint and path constraint, and objective function of the system, the program can use hp-self pseudo-spectral method to calculate the optimal trajectory of the system from the initial value to the final value.)