Advisory
I am too lazy to deal with license issues so if you download any code from here or use any programs from here, you do so at your own risk. Also, I reserve the right to sue the pants off of you if you try and sell something with my code in it. Got it? Good!Applets
Play around with some simple educational applets.
SNOPT
Some people have found my c++ wrapper to snopt useful.
LQR
An implementation of linear quadratic regulators.