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。
3 R6 X% ^8 Z9 J5 w% A MATLAB example described in detail in the technical report
; H( q# o3 a7 `5 M$ q6 v2 G% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %
1 _$ N" ~. q: d; S$ I0 ]3 L% DOTcvp - Dynamic Optimization Toolbox with CVP approach for handling continuous and mixed-integer dynamic optimization problems %
' N& Z3 S- ]0 U. L. ]: A% Copyright (C) 2007-2010  Tomas Hirmajer et al.,
3 {8 H' z" w# H& r, x4 P( p# G% 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:
' [6 T2 R& s2 |* C: e7 |creative  commons   
& H' j4 J) F# ^! A好像得捐款才能下载