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Name Citation Language License Derivatives Discretization Implicit Dynamics Solvers Project Website
Casadi [1] [@Andersson2013] C++, Python, Octave, LGPL Automatic differentiation None Yes IPOPT, WORHP, SNOPT, KNITRO Casadi Website
DIDO [@Ross2002] Matlab Commercial Analytic Pseudospectral Yes built-in DIDO Website
DIRCOL [@vonStryk1993] Fortran Non-commercial Finite differences Piecewise linear/cubic Yes NPSOL, SNOPT DIRCOL Website
DYNOPT [@Cizniar2005] Matlab Custom Open Source, Non-commercial Must be supplied by user Pseudospectral Mass matrix fmincon DYNOPT Code and Documentation
FROST [@Hereid2017] Matlab, Mathematica BSD 3-Clause Analytic ? ? IPOPT, fmincon FROST Documentation
GESOP [@Gath2001] Matlab, C, Fortan, Ada Commercial ? Pseudospectral No SLLSQP, SNOPT, SOCS Astos Solutions Gmbh
GPOPS [@PattersonRao2014] Matlab Commercial Automatic differentiation Pseudospectral No SNOPT, IPOPT GPOPS Website
opty NA Python BSD 2-Clause Analytic Euler, Midpoint Yes IPOPT opty Documentation
OTIS [@Hargraves1987] Fortran US Export Controlled ? Gauss-Labatto, Pseudospectral Yes SNOPT OTIS Website
PROPT [@Rutquist2010] Matlab Commercial Analytic Pseudospectral Yes SNOPT, KNITRO TOMDYN Website
PSOPT [@Becerra2010] C++ GPL Automatic differentiation, Sparse finite differences Pseudospectral, RK Yes IPOPT, SNOPT PSOPT Website
SOCS [@Betts2010] Fortran Commercial Finite differences Euler, RK, & others Yes built-in SOCS Documentation
[1]Casadi does not have a built in direct collocation transcription but includes examples which show how to do so for specific problems.