@misc{moore_opty:_2014,
	title = {opty: {A} library for using direct collocation in the optimization and identification of dynamic systems.},
	copyright = {BSD 2-Clause License},
	url = {https://github.com/csu-hmc/opty},
	urldate = {2016-09-11},
	publisher = {Cleveland State University},
	author = {Moore, Jason K. and van den Bogert, Antonie J.},
	month = may,
	year = {2014}
}

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