The work on the Robotics Code Generator (RobCoGen) has been funded by the department of Advanced Robotics, Istituto Italiano di Tecnologia.

RobCoGen was developed using the following open source software. I would like to thank the authors and maintainers of them:

• Xtext for Eclipse, which I used for the development of the Domain Specific Languages and the corresponding code generators that constitute the core of RobCoGen.
• Maxima, a Computer Algebra System, which is used by RobCoGen to perform some symbolic matrix calculus.
• Jacomax (Java Connector for Maxima), which allows to invoke Maxima programmatically from Java source code.
• Eigen, a powerful C++ template-based library for linear algebra, which is used by the generated C++ code (it is not used by RobCoGen itself).