Hey all! Long time lurker, first time poster.

I found this rocket landing trajectory optimization paper cool, but it took me a while to wrap my head around it and implement it. I wrote up an expanded version of the paper including details that would have helped me understand it the first time through, with the idea being that it might make the content more approachable for others with similar interests. The source code is also linked in the document.

I'm open to feedback, I'm always trying to get better across the board.