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Libcutils provides a self-contained set of fundamental routines which are essential to basically any Unix utility or daemon application written in C. The library provides fundamental data structures such as lists, hash-maps, strings and parsing functions for JSON or the typical dot-file based configuration data. The following list summarizes the currently supported functionality: * length delimited instead of NULL terminated strings * memory management based on reference counting * several list processing functions like iterators and map-reduce * support of [Ideal Hash Tries](http://infoscience.epfl.ch/record/64398/files/idealhashtrees.pdf) for highly efficient hash map data structures * parsers for [JSON](http://json.org) data and the text configuration files found in Unix system * doubly linked circular lists for reliable event queues * support for test and debugging of memory management problems such as memory leaks

...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.