LICENSE

Except where otherwise indicated, all code is distributed under the MIT
license:

    Copyright (c) 2013 Daniel Dyer

    Permission is hereby granted, free of charge, to any person obtaining a
    copy of this software and associated documentation files (the "Software"),
    to deal in the Software without restriction, including without limitation
    the rights to use, copy, modify, merge, publish, distribute, sublicense,
    and/or sell copies of the Software, and to permit persons to whom the
    Software is furnished to do so, subject to the following conditions:

    The above copyright notice and this permission notice shall be included in
    all copies or substantial portions of the Software.

    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
    THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
    FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
    DEALINGS IN THE SOFTWARE.


The C++ version of this library (in src/ and include/) statically links
against:

* Eigen 3 (from https://bitbucket.org/eigen/eigen) -- only MPL2 and
  BSD-licensed code is used:

    http://www.mozilla.org/MPL/2.0/

* qpDUNES (from https://github.com/sfwa/qpDUNES, originally from
  https://github.com/jfrasch/qpDUNES):

    qpDUNES -- A DUal NEwton Strategy for convex quadratic programming.

    Copyright (C) 2012 by Janick Frasch, Hans Joachim Ferreau et al.
    All rights reserved.

    qpDUNES is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.
    qpDUNES is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
    See the GNU Lesser General Public License for more details.
    You should have received a copy of the GNU Lesser General Public
    License along with qpDUNES; if not, write to the Free Software
    Foundation, Inc.,
    51 Franklin Street, Fifth Floor,
    Boston, MA  02110-1301
    USA


The C66x version of this library (in ccs-c66x/) statically links against a
modified version of qpDUNES, available from:

    https://github.com/sfwa/nmpc/ccs-c66x/qpDUNES


Thus, closed-source binaries linking to either version of this code can be
distributed freely, provided the binaries are available in a format that
allows at least the qpDUNES component of the code to be modified and
re-linked. See https://www.gnu.org/licenses/gpl-faq.html#LGPLStaticVsDynamic
for further details.

No licensing restrictions are imposed on projects linking against this
library.