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+# optidef - Version 08/06/2016
+
+
+Copyright 2016 J. Lago Garcia
+
+This work may be distributed and/or modified under the conditions of the LaTeX Project Public License, either version 1.3 of this license or (at your option) any later version.
+The latest version of this license is in http://www.latex-project.org/lppl.txt and version 1.3 or later is part of all distributions of LaTeX version 2005/12/01 or later.
+
+This work has the LPPL maintenance status 'maintained'. The Current Maintainer of this work is J. Lago Garcia, under the supervision of Prof. Dr. Moritz Diehl and Prof. Dr. Sebastien Gross.
+
+E-mail: jesus.lago.garcia@venus.uni-freiburg.de
+
+This work consists of the file optidef.sty.
+
+----------
+FEATURES
+Optidef is a small library that provides a standard set of environments for writing optimization problems. The most important features are:
+
+- It automatically aligns the problems in three points with an optional fourth:
+
+ * Beginning of the words "minimize/argmin" and "subject to"
+ * The objective function and the longest left hand side of the constraints
+ * The $= | > | <$ signs of the constraints.
+ * Optionally, the user can add manually a double align character \&\& to align some common constraints feature. A clear example could be the constraints names, e.g. (boundary constraint) alignment with (dynamic constraint), or the index of the constraints, e.g. in the case of having something like $h(x_k,u_k)\leq 0,\quad k=0,\ldots,N$, align the indexes $k=0,\ldots,N$ across constraint lines.
+
+- It provides an easy interface to define optimization problem for three different reference situations:
+
+ * Where no equation is referenced/numbered.
+ * Where the problem is referenced with a single number.
+ * Where each equation has an individual reference.
+
+- It also allows a definition of any optimization problem without a limitless number of constraints.
+
+- It defines four types of optimization problems:
+
+ * minimize
+ * maximize
+ * arg mini
+ * arg maxi
+
+
+------
+# Syntax
+
+The syntax to define an optimization problem is given by:
+
+ >\begin{mini#}
+ {Number of constraints}
+ {Optimization variable}
+ {Objective function \label{Objective function referece}}
+ {LHS Constraint 1}{RHS Constraint 1 \label{Reference Constraint 1}}
+ {\label{Global referece of Optimization Problem}}
+ {Result of the optimization problem or any expression on the left of the minimize word}
+ \addConstraint{LHS Constraint 2}{RHS Constraint 2 \label{Reference Constraint 2}}
+ \addConstraint{LHS Constraint 3}{RHS Constraint 3 \label{Reference Constraint 3}}
+ .
+ .
+ \finalConstraint{LHS N} {RHSConstraint N \label{Reference Constraint N}}
+ \end{mini#}
+
+
+where mini# takes any of the following values:
+
+ - mini\* for no referencing
+ - mini! for referencing each equation
+ - mini for referencing with a single label the whole problem.
+
+Notice that only the first three will be really necessary in every definition, nevertheless and for the sake of having homogeneous definitions, we opted for requiring the 7 parameters in every definition and expecting empty parameters definitions, i.e. \{\}, when they are not needed.
+
+After the definition of this parameters, the environment accepts the definition of an infinite number of constraints. Notice that the last constraint has to be defined using the \finalConstraint command, instead of the \addConstraint.
+
+
+Finally note that \begin{mini#} can be substituted by \begin{maxi#}, \begin{argmini#} or \begin{argmaxi#}. \ No newline at end of file