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Yop is open-source software distributed under the GNU LGPL license.


Yop is a MATLAB toolbox and therefore requires MATLAB 2014b or later. Yop is also built on CasADi, which need to be obtained as well. Yop has no other dependencies.

Installing CasADi

To run Yop you are required to install CasADi. Just download the latest version of CasADi (3.4.5). Un-zip the files, Add folders and subfolders to your MATLAB path, and that’s it.


To install Yop, download Yop, un-zip Yop, add folders and subfolders to your MATLAB path. Try out some of the examples. The following button opens the github releases page where you can download the latest version.