text: /**********************************************************************************************************************
  This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
  Licensed under the BSD-2 license (see LICENSE file in main directory)
  **********************************************************************************************************************/
  
  #pragma once
  
  namespace ct {
  namespace optcon {
  
  template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
  using ContinuousOptConProblem = OptConProblemBase<STATE_DIM,
      CONTROL_DIM,
      core::ControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>,
      core::LinearSystem<STATE_DIM, CONTROL_DIM, SCALAR>,
      core::SystemLinearizer<STATE_DIM, CONTROL_DIM, SCALAR>,
      SCALAR>;
  
  
  }  // namespace optcon
  }  // namespace ct
  