function varargout = collocationInterpolators(varargin)
    %COLLOCATIONINTERPOLATORS Obtain collocation interpolating matrices.
    %
    %  [[[double]] OUTPUT, [double] OUTPUT] = COLLOCATIONINTERPOLATORS([double] tau_root)
    %
    %
    %Parameters:
    %-----------
    %
    %tau_root:  location of collocation points, as obtained from
    %collocationPoints
    %
    %C:  interpolating coefficients to obtain derivatives Length: order+1, order
    %+ 1
    %
    %
    %
    %::
    %
    %dX/dt @collPoint(j) ~ Sum_i C[j][i]*X@collPoint(i)
    %
    %
    %
    %Parameters:
    %-----------
    %
    %D:  interpolating coefficients to obtain end state Length: order+1
    %
    %
    %
  [varargout{1:nargout}] = casadiMEX(958, varargin{:});
end
