  We introduce the MATLAB-based software QuITO (Quasi-Interpolation based
Trajectory Optimization) to numerically solve a wide class of constrained
nonlinear optimal control problems (OCP). The solver is based on the QuITO (the
same abbreviation) algorithm, which is a direct multiple shooting (DMS)
technique that leverages a particular type of quasi-interpolation scheme for
control trajectory parameterization. The software is equipped with several
options for numerical integration, and optimization solvers along with a
Graphical User Interface (GUI) to make the process of designing and solving the
OCPs smooth and seamless for users with minimum coding experience. We
demonstrate with two benchmark numerical examples the procedure to generate
constrained state and control trajectories using QuITO.
