求DOTcvp toolbox 带不等式路径约束的最优化求解器

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带不等式路径约束的最优化求解器，谁能帮忙下载一下。
7 b& N% A4 ~5 a+ t& E% A MATLAB example described in detail in the technical report
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %
! h* `/ U, ?- v! b8 ^% H& Y% DOTcvp - Dynamic Optimization Toolbox with CVP approach for handling continuous and mixed-integer dynamic optimization problems %
! }7 F5 @8 k+ D# V+ O/ c% Copyright (C) 2007-2010  Tomas Hirmajer et al.,
. o+ z6 A. x4 D% _. o% O$ j+ g) f# Z% The DOTcvp toolbox is completely free of charge under the creative commons license. The conditions of the license can be found on the following web page:
creative  commons   
好像得捐款才能下载
3 C! H* Z2 K  s, y# b9 l$ j