Here you can find a very minimal MATLAB wrapper to NL2SOL (with bound constraints) from the PORT library. I have so far only tested it on Linux with MATLAB R2013b, but I think it should also function ...
#product.Automated_Driving_Toolbox_Importer_for_Zenrin_Japan_Map_API_3.0_(Itsumo_NAVI_API_3.0)_Service #product.Automated_Driving_Toolbox_Interface_for_Unreal_Engine ...
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