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We present Ungar, an open-source library to aid the implementation ofhigh-dimensional optimal control problems (OCPs). We adopt modern templatemetaprogramming techniques to enable the compile-time modeling of complexsystems while retaining maximum runtime efficiency. Our framework providessyntactic sugar to allow for expressive formulations of a rich set ofstructured dynamical systems. While the core modules depend only on theheader-only Eigen and Boost.Hana libraries, we bundle our codebase withoptional packages and custom wrappers for automatic differentiation, codegeneration, and nonlinear programming. Finally, we demonstrate the versatilityof Ungar in various model predictive control applications, namely, four-leggedlocomotion and collaborative loco-manipulation with multiple one-armedquadruped robots. Ungar is available under the Apache License 2.0 athttps://github.com/fdevinc/ungar.

Ungar $\unicode{x2013}$ A C++ Framework for Real-Time Optimal Control Using Template Metaprogramming