title: How to specify integration of a quantity as an objective in Dymos
body: <p>I am implementing Bryson-Denham problem. The objective is:</p>
  <p>$J=\frac{1}{2}\int_{0}^{1}u^2\left(t\right)dt$</p>
  <p>and in the doc of Dymos, all explanation and examples state objective value as a scalar at loc=initial or loc=final. I could not find any example that use integral of some quantity over time as an objective function. Is this possible? How can I implement this?</p>
  <p>FYI, Bryson-Denham problem is well-explained in this page:
  <a href="https://www.gpops2.com/Examples/Bryson-Denham.html" rel="nofollow noreferrer">https://www.gpops2.com/Examples/Bryson-Denham.html</a></p>