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...However, the end result was a new sub-category of trees. The implementation giving here is just one implementation of the new tree sub-category, there can be others. In any case, read the PDF: “Capsule Trees - A Primer”, before delving into the code.
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ACADO Toolkit
Toolkit for Automatic Control and Dynamic Optimization
...It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control, state and parameter estimation and robust optimization. ACADO Toolkit is implemented as self-contained C++ code and comes along with user-friendly MATLAB interface. The object-oriented design allows for convenient coupling of existing optimization packages and for extending it with user-written optimization routines.
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