the OpenCN trajectory optimisation algorithms are complex, and a high level language as Matlab permits to code and test complex algorithms in a much easier way.
For this reason we used code generation from Matlab Coder and Embedded Coder.
Unfortunately, to our knowledge, Python does not (yet ?) feature advanced C code generation.
What implications does the utilization of Matlab Coder has regarding open source licence ?
We used an academic site licence for generating the C code.
The generated code is completely royalty free.
Since we used an academic Matlab licence, the generated C code is today only for academic use (commercial use excluded).
If somebody would like to use OpenCN for commercial applications he needs to buy a commercial licence of Matlab, Matlab Coder and Embedded Coder.
We might also buy in the future a commercial licence of these tools.
In this case, the utilization of C generated code would not have have any more restriction.
We keep you updated regarding these issues.