Hopt-o-mex is currently an incomplete Haskell port of my "opt-o-mex" c++ optimal control software. So far I've implemented euler/rk4 integrators, dynamics linearization functions, differential dynamic programming, a visualizer, and some examples. Automatic differentiation is currently done using "hcasadi," my haskell bindings to the CasADi C++ AD library. See hcasadi's README for installation difficulties #### RUNNING For a quick demo of ddp run 'hopt-o-mex/dist/build/springDdp/springDdp' For a quick and awesome demo of ddp/visualizer run 'hopt-o-mex/dist/build/cartpoleDdp/cartpoleDdp'