OCS2: Optimal Control for Switched Systems

C++ toolbox for nonlinear MPC on switched systems (SLQ, DDP, SQP) with robot examples for legged robots and mobile manipulators; the base of many open-source legged MPC + whole-body control stacks.面向切换系统的非线性 MPC C++ 工具箱（SLQ、DDP、SQP），附足式机器人与移动操作臂示例；许多开源足式 MPC + 全身控制方案都基于它。