the development of gpops-ii began in 2007. the code development name for the software was "optimalprime", but was changed to gpops-ii in late 2012 in order to keep with the lineage of the original version of gpops which implemented global collocation using the gauss pseudospectral method. the development of gpops-ii continues today, with improvements that include the open-source algorithmic differentiation package adigator and continued development of formula_10-adaptive mesh refinement methods for optimal control.