title: MPC for a mecanum wheeled model using Drake
body: <p>I'm new to <code>MIT Drake</code>, I was using <code>CasADi (ipopt)</code> for a mecanum wheeled model for <code>MPC</code>.</p>
  <p>In <code>CasADi</code>, I can create a symbolic variable for the optimization parameters (i.e., initial state and target state).</p>
  <p>Then use it to compute the error in state, how can I get an equivalent functionality in <code>Drake</code>?</p>