helperOC is an optimal control toolbox for Hamilton-Jacobi Reachability Analysis. All code in this repository is written in MATLAB. There is a corresponding C++ version "Berkeley Efficient API in C++ for Level Set methods" (BEACLS) here: https://hjreachability.github.io/beacls/

helperOC requires MATLAB, and depends on the Level Set Methods Toolbox by Ian Mitchell (https://bitbucket.org/ian_mitchell/toolboxls).

To begin using the repository, please refer to the "Introduction to Reachability Code" pdf in the repo