This is the Control Toolbox, an efficient C++ library for control, estimation, optimization and motion planning in robotics.
Please find the documentation here
This file is part of the Control Toolbox (https://adrlab.bitbucket.io/ct), copyright by ETH Zurich, Google Inc. Licensed under Apache2 license (see LICENSE file in main directory)
Complete list of authors who contributed code to the Control Toolbox:
Michael Neunert, Markus Giftthaler, Markus Stäuble, Diego Pardo, Farbod Farshidian, Timothy Sandy, Jan Carius