├── .gitignore ├── LICENSE ├── README.md ├── __init__.py ├── bilinearizable_sys_mpc.ipynb ├── core ├── __init__.py ├── controllers │ ├── .DS_Store │ ├── __init__.py │ ├── constant_controller.py │ ├── controller.py │ ├── energy_controller.py │ ├── fb_lin_controller.py │ ├── linear_controller.py │ ├── lqr_controller.py │ ├── pd_controller.py │ ├── qp_controller.py │ └── random_controller.py ├── dynamics │ ├── __init__.py │ ├── affine_dynamics.py │ ├── affine_quad_clf.py │ ├── configuration_dynamics.py │ ├── configuration_trajectory_dynamics.py │ ├── dynamics.py │ ├── fb_lin_dynamics.py │ ├── fully_actuated_robotic_dynamics.py │ ├── learned_affine_dynamics.py │ ├── learned_dynamics.py │ ├── learned_fb_lin_dynamics.py │ ├── learned_scalar_affine_dynamics.py │ ├── linear_system_dynamics.py │ ├── linearizable_dynamics.py │ ├── pd_dynamics.py │ ├── quadratic_clf.py │ ├── robotic_dynamics.py │ ├── scalar_dynamics.py │ └── system_dynamics.py ├── geometry │ ├── __init__.py │ ├── ball.py │ ├── box.py │ ├── convex_body.py │ ├── derived.py │ ├── two_ball.py │ ├── visual.py │ └── visual_derived.py ├── learning │ ├── __init__.py │ ├── gaussian_process_estimator.py │ ├── keras │ │ ├── __init__.py │ │ ├── keras_residual_affine_model.py │ │ ├── keras_residual_model.py │ │ └── keras_residual_scalar_affine_model.py │ ├── kernels │ │ ├── __init__.py │ │ ├── kernel.py │ │ └── laplacian_kernel.py │ ├── residual_affine_model.py │ ├── residual_model.py │ └── value_estimator.py ├── systems │ ├── __init__.py │ ├── cart_pole.py │ ├── double_inverted_pendulum.py │ ├── inverted_pendulum.py │ └── planar_quadrotor.py └── util.py ├── koopman_core ├── .DS_Store ├── __init__.py ├── basis_functions │ ├── __init__.py │ ├── basis_functions.py │ ├── planar_quad_basis.py │ ├── poly_sine_basis.py │ └── quad_basis.py ├── controllers │ ├── .DS_Store │ ├── __init__.py │ ├── bilinear_fb_lin_controller.py │ ├── bilinear_mpc_controller.py │ ├── bilinear_mpc_controller_numba.py │ ├── bilinear_mpc_traj_controller.py │ ├── bilinear_mpc_traj_controller_numba.py │ ├── embedded_controllers │ │ ├── knmpc_18_4_25 │ │ │ ├── CMakeLists.txt │ │ │ ├── build │ │ │ │ ├── CMakeCache.txt │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── 3.21.1 │ │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ │ └── CMakeCCompilerId.o │ │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ │ └── CMakeCXXCompilerId.o │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ ├── CMakeError.log │ │ │ │ │ ├── CMakeOutput.log │ │ │ │ │ ├── Makefile.cmake │ │ │ │ │ ├── Makefile2 │ │ │ │ │ ├── TargetDirectories.txt │ │ │ │ │ ├── cmake.check_cache │ │ │ │ │ ├── emosqpstatic.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── cmake_clean_target.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── example.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ ├── cmake_install.cmake │ │ │ │ ├── include │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ │ └── src │ │ │ │ │ └── osqp │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ ├── configure │ │ │ │ ├── osqp_configure.h.in │ │ │ │ └── qdldl_types.h.in │ │ │ ├── include │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.h │ │ │ │ ├── constants.h │ │ │ │ ├── error.h │ │ │ │ ├── glob_opts.h │ │ │ │ ├── kkt.h │ │ │ │ ├── lin_alg.h │ │ │ │ ├── osqp.h │ │ │ │ ├── osqp_configure.h │ │ │ │ ├── proj.h │ │ │ │ ├── qdldl.h │ │ │ │ ├── qdldl_interface.h │ │ │ │ ├── qdldl_types.h │ │ │ │ ├── scaling.h │ │ │ │ ├── types.h │ │ │ │ ├── util.h │ │ │ │ └── workspace.h │ │ │ └── src │ │ │ │ ├── build │ │ │ │ ├── lib.macosx-10.9-x86_64-3.8 │ │ │ │ │ └── knmpc_18_4_25.cpython-38-darwin.so │ │ │ │ └── temp.macosx-10.9-x86_64-3.8 │ │ │ │ │ ├── knmpc_18_4_25module.o │ │ │ │ │ └── osqp │ │ │ │ │ ├── auxil.o │ │ │ │ │ ├── error.o │ │ │ │ │ ├── kkt.o │ │ │ │ │ ├── lin_alg.o │ │ │ │ │ ├── osqp.o │ │ │ │ │ ├── proj.o │ │ │ │ │ ├── qdldl.o │ │ │ │ │ ├── qdldl_interface.o │ │ │ │ │ ├── scaling.o │ │ │ │ │ ├── util.o │ │ │ │ │ └── workspace.o │ │ │ │ ├── example.c │ │ │ │ ├── knmpc_18_4_25.cpython-38-darwin.so │ │ │ │ ├── knmpc_18_4_25module.c │ │ │ │ ├── osqp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.c │ │ │ │ ├── error.c │ │ │ │ ├── kkt.c │ │ │ │ ├── lin_alg.c │ │ │ │ ├── osqp.c │ │ │ │ ├── proj.c │ │ │ │ ├── qdldl.c │ │ │ │ ├── qdldl_interface.c │ │ │ │ ├── scaling.c │ │ │ │ ├── util.c │ │ │ │ └── workspace.c │ │ │ │ └── setup.py │ │ ├── knmpc_23_4_25 │ │ │ ├── CMakeLists.txt │ │ │ ├── build │ │ │ │ ├── CMakeCache.txt │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── 3.21.1 │ │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ │ └── CMakeCCompilerId.o │ │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ │ └── CMakeCXXCompilerId.o │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ ├── CMakeError.log │ │ │ │ │ ├── CMakeOutput.log │ │ │ │ │ ├── Makefile.cmake │ │ │ │ │ ├── Makefile2 │ │ │ │ │ ├── TargetDirectories.txt │ │ │ │ │ ├── cmake.check_cache │ │ │ │ │ ├── emosqpstatic.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── cmake_clean_target.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── example.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ ├── cmake_install.cmake │ │ │ │ ├── include │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ │ └── src │ │ │ │ │ └── osqp │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ ├── configure │ │ │ │ ├── osqp_configure.h.in │ │ │ │ └── qdldl_types.h.in │ │ │ ├── include │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.h │ │ │ │ ├── constants.h │ │ │ │ ├── error.h │ │ │ │ ├── glob_opts.h │ │ │ │ ├── kkt.h │ │ │ │ ├── lin_alg.h │ │ │ │ ├── osqp.h │ │ │ │ ├── osqp_configure.h │ │ │ │ ├── proj.h │ │ │ │ ├── qdldl.h │ │ │ │ ├── qdldl_interface.h │ │ │ │ ├── qdldl_types.h │ │ │ │ ├── scaling.h │ │ │ │ ├── types.h │ │ │ │ ├── util.h │ │ │ │ └── workspace.h │ │ │ └── src │ │ │ │ ├── build │ │ │ │ ├── lib.macosx-10.9-x86_64-3.8 │ │ │ │ │ └── knmpc_23_4_25.cpython-38-darwin.so │ │ │ │ └── temp.macosx-10.9-x86_64-3.8 │ │ │ │ │ ├── knmpc_23_4_25module.o │ │ │ │ │ └── osqp │ │ │ │ │ ├── auxil.o │ │ │ │ │ ├── error.o │ │ │ │ │ ├── kkt.o │ │ │ │ │ ├── lin_alg.o │ │ │ │ │ ├── osqp.o │ │ │ │ │ ├── proj.o │ │ │ │ │ ├── qdldl.o │ │ │ │ │ ├── qdldl_interface.o │ │ │ │ │ ├── scaling.o │ │ │ │ │ ├── util.o │ │ │ │ │ └── workspace.o │ │ │ │ ├── example.c │ │ │ │ ├── knmpc_23_4_25.cpython-38-darwin.so │ │ │ │ ├── knmpc_23_4_25module.c │ │ │ │ ├── osqp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.c │ │ │ │ ├── error.c │ │ │ │ ├── kkt.c │ │ │ │ ├── lin_alg.c │ │ │ │ ├── osqp.c │ │ │ │ ├── proj.c │ │ │ │ ├── qdldl.c │ │ │ │ ├── qdldl_interface.c │ │ │ │ ├── scaling.c │ │ │ │ ├── util.c │ │ │ │ └── workspace.c │ │ │ │ └── setup.py │ │ ├── knmpc_33_4_25 │ │ │ ├── CMakeLists.txt │ │ │ ├── build │ │ │ │ ├── CMakeCache.txt │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── 3.21.1 │ │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ │ └── CMakeCCompilerId.o │ │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ │ └── CMakeCXXCompilerId.o │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ ├── CMakeError.log │ │ │ │ │ ├── CMakeOutput.log │ │ │ │ │ ├── Makefile.cmake │ │ │ │ │ ├── Makefile2 │ │ │ │ │ ├── TargetDirectories.txt │ │ │ │ │ ├── cmake.check_cache │ │ │ │ │ ├── emosqpstatic.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── cmake_clean_target.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── example.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ ├── cmake_install.cmake │ │ │ │ ├── include │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ │ └── src │ │ │ │ │ └── osqp │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ ├── configure │ │ │ │ ├── osqp_configure.h.in │ │ │ │ └── qdldl_types.h.in │ │ │ ├── include │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.h │ │ │ │ ├── constants.h │ │ │ │ ├── error.h │ │ │ │ ├── glob_opts.h │ │ │ │ ├── kkt.h │ │ │ │ ├── lin_alg.h │ │ │ │ ├── osqp.h │ │ │ │ ├── osqp_configure.h │ │ │ │ ├── proj.h │ │ │ │ ├── qdldl.h │ │ │ │ ├── qdldl_interface.h │ │ │ │ ├── qdldl_types.h │ │ │ │ ├── scaling.h │ │ │ │ ├── types.h │ │ │ │ ├── util.h │ │ │ │ └── workspace.h │ │ │ └── src │ │ │ │ ├── build │ │ │ │ ├── lib.macosx-10.9-x86_64-3.8 │ │ │ │ │ └── knmpc_33_4_25.cpython-38-darwin.so │ │ │ │ └── temp.macosx-10.9-x86_64-3.8 │ │ │ │ │ ├── knmpc_33_4_25module.o │ │ │ │ │ └── osqp │ │ │ │ │ ├── auxil.o │ │ │ │ │ ├── error.o │ │ │ │ │ ├── kkt.o │ │ │ │ │ ├── lin_alg.o │ │ │ │ │ ├── osqp.o │ │ │ │ │ ├── proj.o │ │ │ │ │ ├── qdldl.o │ │ │ │ │ ├── qdldl_interface.o │ │ │ │ │ ├── scaling.o │ │ │ │ │ ├── util.o │ │ │ │ │ └── workspace.o │ │ │ │ ├── example.c │ │ │ │ ├── knmpc_33_4_25.cpython-38-darwin.so │ │ │ │ ├── knmpc_33_4_25module.c │ │ │ │ ├── osqp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.c │ │ │ │ ├── error.c │ │ │ │ ├── kkt.c │ │ │ │ ├── lin_alg.c │ │ │ │ ├── osqp.c │ │ │ │ ├── proj.c │ │ │ │ ├── qdldl.c │ │ │ │ ├── qdldl_interface.c │ │ │ │ ├── scaling.c │ │ │ │ ├── util.c │ │ │ │ └── workspace.c │ │ │ │ └── setup.py │ │ ├── nmpc_12_4_15 │ │ │ ├── CMakeLists.txt │ │ │ ├── build │ │ │ │ ├── CMakeCache.txt │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── 3.21.1 │ │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ │ └── CMakeCCompilerId.o │ │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ │ └── CMakeCXXCompilerId.o │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ ├── CMakeError.log │ │ │ │ │ ├── CMakeOutput.log │ │ │ │ │ ├── Makefile.cmake │ │ │ │ │ ├── Makefile2 │ │ │ │ │ ├── TargetDirectories.txt │ │ │ │ │ ├── cmake.check_cache │ │ │ │ │ ├── emosqpstatic.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── cmake_clean_target.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── example.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ ├── cmake_install.cmake │ │ │ │ ├── include │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ │ └── src │ │ │ │ │ └── osqp │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ ├── configure │ │ │ │ ├── osqp_configure.h.in │ │ │ │ └── qdldl_types.h.in │ │ │ ├── include │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.h │ │ │ │ ├── constants.h │ │ │ │ ├── error.h │ │ │ │ ├── glob_opts.h │ │ │ │ ├── kkt.h │ │ │ │ ├── lin_alg.h │ │ │ │ ├── osqp.h │ │ │ │ ├── osqp_configure.h │ │ │ │ ├── proj.h │ │ │ │ ├── qdldl.h │ │ │ │ ├── qdldl_interface.h │ │ │ │ ├── qdldl_types.h │ │ │ │ ├── scaling.h │ │ │ │ ├── types.h │ │ │ │ ├── util.h │ │ │ │ └── workspace.h │ │ │ └── src │ │ │ │ ├── build │ │ │ │ ├── lib.macosx-10.9-x86_64-3.8 │ │ │ │ │ └── nmpc_12_4_15.cpython-38-darwin.so │ │ │ │ └── temp.macosx-10.9-x86_64-3.8 │ │ │ │ │ ├── nmpc_12_4_15module.o │ │ │ │ │ └── osqp │ │ │ │ │ ├── auxil.o │ │ │ │ │ ├── error.o │ │ │ │ │ ├── kkt.o │ │ │ │ │ ├── lin_alg.o │ │ │ │ │ ├── osqp.o │ │ │ │ │ ├── proj.o │ │ │ │ │ ├── qdldl.o │ │ │ │ │ ├── qdldl_interface.o │ │ │ │ │ ├── scaling.o │ │ │ │ │ ├── util.o │ │ │ │ │ └── workspace.o │ │ │ │ ├── example.c │ │ │ │ ├── nmpc_12_4_15.cpython-38-darwin.so │ │ │ │ ├── nmpc_12_4_15module.c │ │ │ │ ├── osqp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.c │ │ │ │ ├── error.c │ │ │ │ ├── kkt.c │ │ │ │ ├── lin_alg.c │ │ │ │ ├── osqp.c │ │ │ │ ├── proj.c │ │ │ │ ├── qdldl.c │ │ │ │ ├── qdldl_interface.c │ │ │ │ ├── scaling.c │ │ │ │ ├── util.c │ │ │ │ └── workspace.c │ │ │ │ └── setup.py │ │ ├── nmpc_12_4_25 │ │ │ ├── CMakeLists.txt │ │ │ ├── build │ │ │ │ ├── CMakeCache.txt │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── 3.21.1 │ │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ │ └── CMakeCCompilerId.o │ │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ │ └── CMakeCXXCompilerId.o │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ ├── CMakeError.log │ │ │ │ │ ├── CMakeOutput.log │ │ │ │ │ ├── Makefile.cmake │ │ │ │ │ ├── Makefile2 │ │ │ │ │ ├── TargetDirectories.txt │ │ │ │ │ ├── cmake.check_cache │ │ │ │ │ ├── emosqpstatic.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── cmake_clean_target.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── example.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ ├── cmake_install.cmake │ │ │ │ ├── include │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ │ └── src │ │ │ │ │ └── osqp │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ ├── configure │ │ │ │ ├── osqp_configure.h.in │ │ │ │ └── qdldl_types.h.in │ │ │ ├── include │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.h │ │ │ │ ├── constants.h │ │ │ │ ├── error.h │ │ │ │ ├── glob_opts.h │ │ │ │ ├── kkt.h │ │ │ │ ├── lin_alg.h │ │ │ │ ├── osqp.h │ │ │ │ ├── osqp_configure.h │ │ │ │ ├── proj.h │ │ │ │ ├── qdldl.h │ │ │ │ ├── qdldl_interface.h │ │ │ │ ├── qdldl_types.h │ │ │ │ ├── scaling.h │ │ │ │ ├── types.h │ │ │ │ ├── util.h │ │ │ │ └── workspace.h │ │ │ └── src │ │ │ │ ├── build │ │ │ │ ├── lib.macosx-10.9-x86_64-3.8 │ │ │ │ │ └── nmpc_12_4_25.cpython-38-darwin.so │ │ │ │ └── temp.macosx-10.9-x86_64-3.8 │ │ │ │ │ ├── nmpc_12_4_25module.o │ │ │ │ │ └── osqp │ │ │ │ │ ├── auxil.o │ │ │ │ │ ├── error.o │ │ │ │ │ ├── kkt.o │ │ │ │ │ ├── lin_alg.o │ │ │ │ │ ├── osqp.o │ │ │ │ │ ├── proj.o │ │ │ │ │ ├── qdldl.o │ │ │ │ │ ├── qdldl_interface.o │ │ │ │ │ ├── scaling.o │ │ │ │ │ ├── util.o │ │ │ │ │ └── workspace.o │ │ │ │ ├── example.c │ │ │ │ ├── nmpc_12_4_25.cpython-38-darwin.so │ │ │ │ ├── nmpc_12_4_25module.c │ │ │ │ ├── osqp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.c │ │ │ │ ├── error.c │ │ │ │ ├── kkt.c │ │ │ │ ├── lin_alg.c │ │ │ │ ├── osqp.c │ │ │ │ ├── proj.c │ │ │ │ ├── qdldl.c │ │ │ │ ├── qdldl_interface.c │ │ │ │ ├── scaling.c │ │ │ │ ├── util.c │ │ │ │ └── workspace.c │ │ │ │ └── setup.py │ │ ├── nmpc_12_4_30 │ │ │ ├── CMakeLists.txt │ │ │ ├── build │ │ │ │ ├── CMakeCache.txt │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── 3.21.1 │ │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ │ └── CMakeCCompilerId.o │ │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ │ └── CMakeCXXCompilerId.o │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ ├── CMakeError.log │ │ │ │ │ ├── CMakeOutput.log │ │ │ │ │ ├── Makefile.cmake │ │ │ │ │ ├── Makefile2 │ │ │ │ │ ├── TargetDirectories.txt │ │ │ │ │ ├── cmake.check_cache │ │ │ │ │ ├── emosqpstatic.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── cmake_clean_target.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── example.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ ├── cmake_install.cmake │ │ │ │ ├── include │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ │ └── src │ │ │ │ │ └── osqp │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ ├── configure │ │ │ │ ├── osqp_configure.h.in │ │ │ │ └── qdldl_types.h.in │ │ │ ├── include │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.h │ │ │ │ ├── constants.h │ │ │ │ ├── error.h │ │ │ │ ├── glob_opts.h │ │ │ │ ├── kkt.h │ │ │ │ ├── lin_alg.h │ │ │ │ ├── osqp.h │ │ │ │ ├── osqp_configure.h │ │ │ │ ├── proj.h │ │ │ │ ├── qdldl.h │ │ │ │ ├── qdldl_interface.h │ │ │ │ ├── qdldl_types.h │ │ │ │ ├── scaling.h │ │ │ │ ├── types.h │ │ │ │ ├── util.h │ │ │ │ └── workspace.h │ │ │ └── src │ │ │ │ ├── build │ │ │ │ ├── lib.macosx-10.9-x86_64-3.8 │ │ │ │ │ └── nmpc_12_4_30.cpython-38-darwin.so │ │ │ │ └── temp.macosx-10.9-x86_64-3.8 │ │ │ │ │ ├── nmpc_12_4_30module.o │ │ │ │ │ └── osqp │ │ │ │ │ ├── auxil.o │ │ │ │ │ ├── error.o │ │ │ │ │ ├── kkt.o │ │ │ │ │ ├── lin_alg.o │ │ │ │ │ ├── osqp.o │ │ │ │ │ ├── proj.o │ │ │ │ │ ├── qdldl.o │ │ │ │ │ ├── qdldl_interface.o │ │ │ │ │ ├── scaling.o │ │ │ │ │ ├── util.o │ │ │ │ │ └── workspace.o │ │ │ │ ├── example.c │ │ │ │ ├── nmpc_12_4_30.cpython-38-darwin.so │ │ │ │ ├── nmpc_12_4_30module.c │ │ │ │ ├── osqp │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── auxil.c │ │ │ │ ├── error.c │ │ │ │ ├── kkt.c │ │ │ │ ├── lin_alg.c │ │ │ │ ├── osqp.c │ │ │ │ ├── proj.c │ │ │ │ ├── qdldl.c │ │ │ │ ├── qdldl_interface.c │ │ │ │ ├── scaling.c │ │ │ │ ├── util.c │ │ │ │ └── workspace.c │ │ │ │ └── setup.py │ │ └── nmpc_12_4_50 │ │ │ ├── CMakeLists.txt │ │ │ ├── build │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 3.21.1 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── CMakeCCompilerId.o │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── CMakeCXXCompilerId.o │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeError.log │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── emosqpstatic.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── cmake_clean_target.cmake │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── example.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── compiler_depend.make │ │ │ │ │ ├── compiler_depend.ts │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ ├── cmake_install.cmake │ │ │ ├── include │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ └── cmake_install.cmake │ │ │ └── src │ │ │ │ └── osqp │ │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ └── cmake_install.cmake │ │ │ ├── configure │ │ │ ├── osqp_configure.h.in │ │ │ └── qdldl_types.h.in │ │ │ ├── include │ │ │ ├── CMakeLists.txt │ │ │ ├── auxil.h │ │ │ ├── constants.h │ │ │ ├── error.h │ │ │ ├── glob_opts.h │ │ │ ├── kkt.h │ │ │ ├── lin_alg.h │ │ │ ├── osqp.h │ │ │ ├── osqp_configure.h │ │ │ ├── proj.h │ │ │ ├── qdldl.h │ │ │ ├── qdldl_interface.h │ │ │ ├── qdldl_types.h │ │ │ ├── scaling.h │ │ │ ├── types.h │ │ │ ├── util.h │ │ │ └── workspace.h │ │ │ └── src │ │ │ ├── build │ │ │ ├── lib.macosx-10.9-x86_64-3.8 │ │ │ │ └── nmpc_12_4_50.cpython-38-darwin.so │ │ │ └── temp.macosx-10.9-x86_64-3.8 │ │ │ │ ├── nmpc_12_4_50module.o │ │ │ │ └── osqp │ │ │ │ ├── auxil.o │ │ │ │ ├── error.o │ │ │ │ ├── kkt.o │ │ │ │ ├── lin_alg.o │ │ │ │ ├── osqp.o │ │ │ │ ├── proj.o │ │ │ │ ├── qdldl.o │ │ │ │ ├── qdldl_interface.o │ │ │ │ ├── scaling.o │ │ │ │ ├── util.o │ │ │ │ └── workspace.o │ │ │ ├── example.c │ │ │ ├── nmpc_12_4_50.cpython-38-darwin.so │ │ │ ├── nmpc_12_4_50module.c │ │ │ ├── osqp │ │ │ ├── CMakeLists.txt │ │ │ ├── auxil.c │ │ │ ├── error.c │ │ │ ├── kkt.c │ │ │ ├── lin_alg.c │ │ │ ├── osqp.c │ │ │ ├── proj.c │ │ │ ├── qdldl.c │ │ │ ├── qdldl_interface.c │ │ │ ├── scaling.c │ │ │ ├── util.c │ │ │ └── workspace.c │ │ │ └── setup.py │ ├── linear_lifted_controller.py │ ├── linear_mpc_controller.py │ ├── mpc_controller.py │ ├── mpc_controller_dense.py │ ├── mpc_controller_lift_fp.py │ ├── nmpc_traj_controller.py │ ├── nmpc_traj_controller_numba.py │ ├── nonlinear_mpc_controller.py │ ├── nonlinear_mpc_controller_numba.py │ ├── openloop_controller.py │ └── perturbed_controller.py ├── dynamics │ ├── .DS_Store │ ├── __init__.py │ ├── bilinear_lifted_dynamics.py │ └── linear_lifted_dynamics.py ├── geometry │ ├── .DS_Store │ └── __init__.py ├── handlers │ ├── __init__.py │ ├── drone_handler.py │ ├── handler.py │ └── simulation_handler.py ├── learning │ ├── __init__.py │ ├── bilinear_edmd.py │ ├── edmd.py │ ├── edmd_aut.py │ ├── fl_bilinear_learner.py │ ├── koop_dnn.py │ ├── koop_dnn_aut_old.py │ ├── koop_dnn_old.py │ ├── koopman_net.py │ ├── koopman_net_aut.py │ ├── koopman_net_ctrl.py │ ├── lasso_qp.py │ └── utils.py ├── systems │ ├── .DS_Store │ ├── __init__.py │ ├── aut_koop_sys.py │ ├── koop_sys_ctrl.py │ ├── one_dim_drone.py │ └── planar_quadrotor_force_input.py └── util.py ├── planar_quadrotor_learning_mpc.ipynb ├── planar_quadrotor_learning_mpc_dnn.ipynb ├── requirements.txt └── working_files ├── __init__.py ├── __init__.pyc ├── bilinearizable_sys_feedback_linearization.ipynb ├── bilinearizable_sys_mpc.py ├── bkeedmd ├── __init__.py ├── __init__.pyc ├── analytic_koop_sys_hyperparam_tuning.py ├── analytic_koop_sys_mod.ipynb ├── analytic_koop_sys_mod.py ├── analytic_koop_sys_simplified.ipynb ├── bilinearizable_sys_hyperparam_tuning.py ├── bilinearizable_sys_mpc_nn.ipynb ├── bilinearizable_sys_mpc_nn.py ├── cart_pole_mpc.ipynb ├── cart_pole_mpc.py ├── checkpoint ├── data │ ├── analytic_koop_ctrl_sys_data.pickle │ ├── analytic_koop_sys_best_params.pickle │ ├── analytic_koop_sys_data.pickle │ ├── bilinearizable_sys_best_params.pickle │ ├── bilinearizable_sys_data.pickle │ ├── cart_pole_data.pickle │ ├── planar_quad_best_params.pickle │ ├── planar_quad_data.pickle │ ├── planar_quadbest_params.pickle │ └── planar_quadnum_exp.pickle ├── databilinearizable_sys_data.pickle ├── figures │ ├── koop_simplified.gif │ ├── koop_sys_prediction.pdf │ ├── planar_quad_prediction.pdf │ ├── tuning_summary_analytic_koop_sys.pdf │ └── tuning_summary_bilinearizable_sys.pdf ├── planar_quad_hyperparam_tuning.py ├── planar_quad_num_exp.py ├── planar_quadrotor_learning_mpc_nn.ipynb ├── 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