SNOPT - Sparse NOnlinear OPTimizer
Copyright (c) 2008, Philip Gill (pgill@ucsd.edu),
Walter Murray (walter@leland.stanford.edu),
and Michael Saunders (saunders@stanford.edu)
SNOPT is a licensed software, to obtain the program sources and for
term and conditions of use please refer to the specific commercial
or academic agreement with Stanford Business Software Inc.