Plain C Translation: qpOASES_e
qpOASES_e is an almost complete plain C, static memory translation of qpOASES. It might be further maintained in the future. Compared to qpOASES, qpOASES_e has a number of limitations and is solely intended for use cases where using C++ code is highly undesirable or even impossible.
You can download the latest stable release of qpOASES_e as a zipped archive.
For more information on how to proceed, see the Installation page of qpOASES.