on this page you find informations about the C++ packages LiftOpt and LiftOptDyn. LiftOpt, developed at the SimOpt Group of the IWR, University of Heidelberg, in collaboration with the OPTEC, KU Leuven, is a toolkit for nonlinear optimization that aims to extend the advantages of multiple shooting to general NLP problems with nearly no additional computational and implementation effort compared to a classic approach. LiftOptDyn, developed at IWR, is also an implementation of the lifting idea, but specifically tailored to the context of optimization problems (optimal control, parameter estimation) involving dynamic models described by differential equations.