├── .gitignore ├── README.md ├── docs ├── example │ ├── CppAD_Ipopt.cpp │ └── CppAD_started.cpp └── ipopt_install │ ├── ipopt_arm_install_tutorial.md │ └── ipopt_x86_install_tutorial.md └── mpc_controller_ros ├── CMakeLists.txt ├── include ├── cppad │ ├── .cppad.hpp.swp │ ├── CMakeLists.txt │ ├── base_require.hpp │ ├── configure.hpp │ ├── configure.hpp.in │ ├── core │ │ ├── abort_recording.hpp │ │ ├── abs.hpp │ │ ├── abs_normal_fun.hpp │ │ ├── acosh.hpp │ │ ├── ad.hpp │ │ ├── ad_assign.hpp │ │ ├── ad_binary.hpp │ │ ├── ad_ctor.hpp │ │ ├── ad_fun.hpp │ │ ├── ad_io.hpp │ │ ├── ad_to_string.hpp │ │ ├── ad_valued.hpp │ │ ├── add.hpp │ │ ├── add_eq.hpp │ │ ├── arithmetic.hpp │ │ ├── asinh.hpp │ │ ├── atan2.hpp │ │ ├── atanh.hpp │ │ ├── atomic_base.hpp │ │ ├── azmul.hpp │ │ ├── base_complex.hpp │ │ ├── base_cond_exp.hpp │ │ ├── base_double.hpp │ │ ├── base_float.hpp │ │ ├── base_hash.hpp │ │ ├── base_limits.hpp │ │ ├── base_std_math.hpp │ │ ├── base_to_string.hpp │ │ ├── bender_quad.hpp │ │ ├── bool_fun.hpp │ │ ├── bool_valued.hpp │ │ ├── capacity_order.hpp │ │ ├── check_for_nan.hpp │ │ ├── checkpoint.hpp │ │ ├── compare.hpp │ │ ├── compound_assign.hpp │ │ ├── cond_exp.hpp │ │ ├── convert.hpp │ │ ├── cppad_assert.hpp │ │ ├── define.hpp │ │ ├── dependent.hpp │ │ ├── discrete.hpp │ │ ├── div.hpp │ │ ├── div_eq.hpp │ │ ├── drivers.hpp │ │ ├── epsilon.hpp │ │ ├── equal_op_seq.hpp │ │ ├── erf.hpp │ │ ├── expm1.hpp │ │ ├── for_hes_sparsity.hpp │ │ ├── for_jac_sparsity.hpp │ │ ├── for_one.hpp │ │ ├── for_sparse_hes.hpp │ │ ├── for_sparse_jac.hpp │ │ ├── for_two.hpp │ │ ├── forward.hpp │ │ ├── fun_check.hpp │ │ ├── fun_construct.hpp │ │ ├── fun_eval.hpp │ │ ├── hash_code.hpp │ │ ├── hessian.hpp │ │ ├── identical.hpp │ │ ├── independent.hpp │ │ ├── integer.hpp │ │ ├── jacobian.hpp │ │ ├── log1p.hpp │ │ ├── lu_ratio.hpp │ │ ├── mul.hpp │ │ ├── mul_eq.hpp │ │ ├── near_equal_ext.hpp │ │ ├── num_skip.hpp │ │ ├── numeric_limits.hpp │ │ ├── old_atomic.hpp │ │ ├── omp_max_thread.hpp │ │ ├── opt_val_hes.hpp │ │ ├── optimize.hpp │ │ ├── ordered.hpp │ │ ├── par_var.hpp │ │ ├── parallel_ad.hpp │ │ ├── pow.hpp │ │ ├── print_for.hpp │ │ ├── rev_hes_sparsity.hpp │ │ ├── rev_jac_sparsity.hpp │ │ ├── rev_one.hpp │ │ ├── rev_sparse_hes.hpp │ │ ├── rev_sparse_jac.hpp │ │ ├── rev_two.hpp │ │ ├── reverse.hpp │ │ ├── sign.hpp │ │ ├── sparse.hpp │ │ ├── sparse_hes.hpp │ │ ├── sparse_hessian.hpp │ │ ├── sparse_jac.hpp │ │ ├── sparse_jacobian.hpp │ │ ├── standard_math.hpp │ │ ├── std_math_98.hpp │ │ ├── sub.hpp │ │ ├── sub_eq.hpp │ │ ├── subgraph_jac_rev.hpp │ │ ├── subgraph_reverse.hpp │ │ ├── subgraph_sparsity.hpp │ │ ├── tape_link.hpp │ │ ├── test_vector.hpp │ │ ├── testvector.hpp │ │ ├── unary_minus.hpp │ │ ├── unary_plus.hpp │ │ ├── undef.hpp │ │ ├── user_ad.hpp │ │ ├── value.hpp │ │ ├── var2par.hpp │ │ ├── vec_ad.hpp │ │ └── zdouble.hpp │ ├── cppad.hpp │ ├── cppad │ │ ├── .cppad.hpp.swo │ │ ├── .cppad.hpp.swp │ │ ├── CMakeLists.txt │ │ ├── base_require.hpp │ │ ├── configure.hpp.in │ │ ├── core │ │ │ ├── abort_recording.hpp │ │ │ ├── abs.hpp │ │ │ ├── abs_normal_fun.hpp │ │ │ ├── acosh.hpp │ │ │ ├── ad.hpp │ │ │ ├── ad_assign.hpp │ │ │ ├── ad_binary.hpp │ │ │ ├── ad_ctor.hpp │ │ │ ├── ad_fun.hpp │ │ │ ├── ad_io.hpp │ │ │ ├── ad_to_string.hpp │ │ │ ├── ad_valued.hpp │ │ │ ├── add.hpp │ │ │ ├── add_eq.hpp │ │ │ ├── arithmetic.hpp │ │ │ ├── asinh.hpp │ │ │ ├── atan2.hpp │ │ │ ├── atanh.hpp │ │ │ ├── atomic_base.hpp │ │ │ ├── azmul.hpp │ │ │ ├── base_complex.hpp │ │ │ ├── base_cond_exp.hpp │ │ │ ├── base_double.hpp │ │ │ ├── base_float.hpp │ │ │ ├── base_hash.hpp │ │ │ ├── base_limits.hpp │ │ │ ├── base_std_math.hpp │ │ │ ├── base_to_string.hpp │ │ │ ├── bender_quad.hpp │ │ │ ├── bool_fun.hpp │ │ │ ├── bool_valued.hpp │ │ │ ├── capacity_order.hpp │ │ │ ├── check_for_nan.hpp │ │ │ ├── checkpoint.hpp │ │ │ ├── compare.hpp │ │ │ ├── compound_assign.hpp │ │ │ ├── cond_exp.hpp │ │ │ ├── convert.hpp │ │ │ ├── cppad_assert.hpp │ │ │ ├── define.hpp │ │ │ ├── dependent.hpp │ │ │ ├── discrete.hpp │ │ │ ├── div.hpp │ │ │ ├── div_eq.hpp │ │ │ ├── drivers.hpp │ │ │ ├── epsilon.hpp │ │ │ ├── equal_op_seq.hpp │ │ │ ├── erf.hpp │ │ │ ├── expm1.hpp │ │ │ ├── for_hes_sparsity.hpp │ │ │ ├── for_jac_sparsity.hpp │ │ │ ├── for_one.hpp │ │ │ ├── for_sparse_hes.hpp │ │ │ ├── for_sparse_jac.hpp │ │ │ ├── for_two.hpp │ │ │ ├── forward.hpp │ │ │ ├── fun_check.hpp │ │ │ ├── fun_construct.hpp │ │ │ ├── fun_eval.hpp │ │ │ ├── hash_code.hpp │ │ │ ├── hessian.hpp │ │ │ ├── identical.hpp │ │ │ ├── independent.hpp │ │ │ ├── integer.hpp │ │ │ ├── jacobian.hpp │ │ │ ├── log1p.hpp │ │ │ ├── lu_ratio.hpp │ │ │ ├── mul.hpp │ │ │ ├── mul_eq.hpp │ │ │ ├── near_equal_ext.hpp │ │ │ ├── num_skip.hpp │ │ │ ├── numeric_limits.hpp │ │ │ ├── old_atomic.hpp │ │ │ ├── omp_max_thread.hpp │ │ │ ├── opt_val_hes.hpp │ │ │ ├── optimize.hpp │ │ │ ├── ordered.hpp │ │ │ ├── par_var.hpp │ │ │ ├── parallel_ad.hpp │ │ │ ├── pow.hpp │ │ │ ├── print_for.hpp │ │ │ ├── rev_hes_sparsity.hpp │ │ │ ├── rev_jac_sparsity.hpp │ │ │ ├── rev_one.hpp │ │ │ ├── rev_sparse_hes.hpp │ │ │ ├── rev_sparse_jac.hpp │ │ │ ├── rev_two.hpp │ │ │ ├── reverse.hpp │ │ │ ├── sign.hpp │ │ │ ├── sparse.hpp │ │ │ ├── sparse_hes.hpp │ │ │ ├── sparse_hessian.hpp │ │ │ ├── sparse_jac.hpp │ │ │ ├── sparse_jacobian.hpp │ │ │ ├── standard_math.hpp │ │ │ ├── std_math_98.hpp │ │ │ ├── sub.hpp │ │ │ ├── sub_eq.hpp │ │ │ ├── subgraph_jac_rev.hpp │ │ │ ├── subgraph_reverse.hpp │ │ │ ├── subgraph_sparsity.hpp │ │ │ ├── tape_link.hpp │ │ │ ├── test_vector.hpp │ │ │ ├── testvector.hpp │ │ │ ├── unary_minus.hpp │ │ │ ├── unary_plus.hpp │ │ │ ├── undef.hpp │ │ │ ├── user_ad.hpp │ │ │ ├── value.hpp │ │ │ ├── var2par.hpp │ │ │ ├── vec_ad.hpp │ │ │ └── zdouble.hpp │ │ ├── cppad.hpp │ │ ├── example │ │ │ ├── base_adolc.hpp │ │ │ ├── cppad_eigen.hpp │ │ │ ├── eigen_cholesky.hpp │ │ │ ├── eigen_mat_inv.hpp │ │ │ ├── eigen_mat_mul.hpp │ │ │ ├── eigen_plugin.hpp │ │ │ └── mat_mul.hpp │ │ ├── ipopt │ │ │ ├── solve.hpp │ │ │ ├── solve_callback.hpp │ │ │ └── solve_result.hpp │ │ ├── local │ │ │ ├── CMakeLists.txt │ │ │ ├── abs_op.hpp │ │ │ ├── acos_op.hpp │ │ │ ├── acosh_op.hpp │ │ │ ├── ad_tape.hpp │ │ │ ├── add_op.hpp │ │ │ ├── asin_op.hpp │ │ │ ├── asinh_op.hpp │ │ │ ├── atan_op.hpp │ │ │ ├── atanh_op.hpp │ │ │ ├── color_general.hpp │ │ │ ├── color_symmetric.hpp │ │ │ ├── comp_op.hpp │ │ │ ├── cond_op.hpp │ │ │ ├── cos_op.hpp │ │ │ ├── cosh_op.hpp │ │ │ ├── cppad_colpack.hpp │ │ │ ├── cskip_op.hpp │ │ │ ├── csum_op.hpp │ │ │ ├── declare_ad.hpp │ │ │ ├── discrete_op.hpp │ │ │ ├── div_op.hpp │ │ │ ├── erf_op.hpp │ │ │ ├── exp_op.hpp │ │ │ ├── expm1_op.hpp │ │ │ ├── for_hes_sweep.hpp │ │ │ ├── for_jac_sweep.hpp │ │ │ ├── forward0sweep.hpp │ │ │ ├── forward1sweep.hpp │ │ │ ├── forward2sweep.hpp │ │ │ ├── hash_code.hpp │ │ │ ├── independent.hpp │ │ │ ├── is_pod.hpp.in │ │ │ ├── load_op.hpp │ │ │ ├── log1p_op.hpp │ │ │ ├── log_op.hpp │ │ │ ├── mul_op.hpp │ │ │ ├── op.hpp │ │ │ ├── op_code.hpp │ │ │ ├── optimize │ │ │ │ ├── cexp_info.hpp │ │ │ │ ├── csum_stacks.hpp │ │ │ │ ├── csum_variable.hpp │ │ │ │ ├── get_opt_op_info.hpp │ │ │ │ ├── hash_code.hpp │ │ │ │ ├── match_op.hpp │ │ │ │ ├── old2new.hpp │ │ │ │ ├── opt_op_info.hpp │ │ │ │ ├── optimize_run.hpp │ │ │ │ ├── record_csum.hpp │ │ │ │ ├── record_pv.hpp │ │ │ │ ├── record_vp.hpp │ │ │ │ ├── record_vv.hpp │ │ │ │ ├── size_pair.hpp │ │ │ │ └── usage.hpp │ │ │ ├── parameter_op.hpp │ │ │ ├── player.hpp │ │ │ ├── pod_vector.hpp │ │ │ ├── pow_op.hpp │ │ │ ├── print_op.hpp │ │ │ ├── prototype_op.hpp │ │ │ ├── recorder.hpp │ │ │ ├── rev_hes_sweep.hpp │ │ │ ├── rev_jac_sweep.hpp │ │ │ ├── reverse_sweep.hpp │ │ │ ├── set_get_in_parallel.hpp │ │ │ ├── sign_op.hpp │ │ │ ├── sin_op.hpp │ │ │ ├── sinh_op.hpp │ │ │ ├── sparse_binary_op.hpp │ │ │ ├── sparse_internal.hpp │ │ │ ├── sparse_list.hpp │ │ │ ├── sparse_pack.hpp │ │ │ ├── sparse_sizevec.hpp │ │ │ ├── sparse_unary_op.hpp │ │ │ ├── sqrt_op.hpp │ │ │ ├── std_set.hpp │ │ │ ├── store_op.hpp │ │ │ ├── sub_op.hpp │ │ │ ├── subgraph │ │ │ │ ├── arg_variable.hpp │ │ │ │ ├── entire_call.hpp │ │ │ │ ├── get_rev.hpp │ │ │ │ ├── info.hpp │ │ │ │ ├── init_rev.hpp │ │ │ │ └── sparsity.hpp │ │ │ ├── tan_op.hpp │ │ │ ├── tanh_op.hpp │ │ │ ├── user_state.hpp │ │ │ └── zmul_op.hpp │ │ ├── speed │ │ │ ├── det_33.hpp │ │ │ ├── det_by_lu.hpp │ │ │ ├── det_by_minor.hpp │ │ │ ├── det_grad_33.hpp │ │ │ ├── det_of_minor.hpp │ │ │ ├── mat_sum_sq.hpp │ │ │ ├── ode_evaluate.hpp │ │ │ ├── sparse_hes_fun.hpp │ │ │ ├── sparse_jac_fun.hpp │ │ │ └── uniform_01.hpp │ │ ├── utility.hpp │ │ ├── utility │ │ │ ├── check_numeric_type.hpp │ │ │ ├── check_simple_vector.hpp │ │ │ ├── elapsed_seconds.hpp │ │ │ ├── error_handler.hpp │ │ │ ├── index_sort.hpp │ │ │ ├── lu_factor.hpp │ │ │ ├── lu_invert.hpp │ │ │ ├── lu_solve.hpp │ │ │ ├── memory_leak.hpp │ │ │ ├── nan.hpp │ │ │ ├── near_equal.hpp │ │ │ ├── ode_err_control.hpp │ │ │ ├── ode_gear.hpp │ │ │ ├── ode_gear_control.hpp │ │ │ ├── omp_alloc.hpp │ │ │ ├── poly.hpp │ │ │ ├── pow_int.hpp │ │ │ ├── romberg_mul.hpp │ │ │ ├── romberg_one.hpp │ │ │ ├── rosen_34.hpp │ │ │ ├── runge_45.hpp │ │ │ ├── set_union.hpp │ │ │ ├── sparse_rc.hpp │ │ │ ├── sparse_rcv.hpp │ │ │ ├── speed_test.hpp │ │ │ ├── test_boolofvoid.hpp │ │ │ ├── thread_alloc.hpp │ │ │ ├── time_test.hpp │ │ │ ├── to_string.hpp │ │ │ ├── track_new_del.hpp │ │ │ └── vector.hpp │ │ └── wno_conversion.hpp │ ├── example │ │ ├── base_adolc.hpp │ │ ├── cppad_eigen.hpp │ │ ├── eigen_cholesky.hpp │ │ ├── eigen_mat_inv.hpp │ │ ├── eigen_mat_mul.hpp │ │ ├── eigen_plugin.hpp │ │ └── mat_mul.hpp │ ├── ipopt │ │ ├── solve.hpp │ │ ├── solve_callback.hpp │ │ └── solve_result.hpp │ ├── local │ │ ├── CMakeLists.txt │ │ ├── abs_op.hpp │ │ ├── acos_op.hpp │ │ ├── acosh_op.hpp │ │ ├── ad_tape.hpp │ │ ├── add_op.hpp │ │ ├── asin_op.hpp │ │ ├── asinh_op.hpp │ │ ├── atan_op.hpp │ │ ├── atanh_op.hpp │ │ ├── color_general.hpp │ │ ├── color_symmetric.hpp │ │ ├── comp_op.hpp │ │ ├── cond_op.hpp │ │ ├── cos_op.hpp │ │ ├── cosh_op.hpp │ │ ├── cppad_colpack.hpp │ │ ├── cskip_op.hpp │ │ ├── csum_op.hpp │ │ ├── declare_ad.hpp │ │ ├── discrete_op.hpp │ │ ├── div_op.hpp │ │ ├── erf_op.hpp │ │ ├── exp_op.hpp │ │ ├── expm1_op.hpp │ │ ├── for_hes_sweep.hpp │ │ ├── for_jac_sweep.hpp │ │ ├── forward0sweep.hpp │ │ ├── forward1sweep.hpp │ │ ├── forward2sweep.hpp │ │ ├── hash_code.hpp │ │ ├── independent.hpp │ │ ├── is_pod.hpp │ │ ├── is_pod.hpp.in │ │ ├── load_op.hpp │ │ ├── log1p_op.hpp │ │ ├── log_op.hpp │ │ ├── mul_op.hpp │ │ ├── op.hpp │ │ ├── op_code.hpp │ │ ├── optimize │ │ │ ├── cexp_info.hpp │ │ │ ├── csum_stacks.hpp │ │ │ ├── csum_variable.hpp │ │ │ ├── get_opt_op_info.hpp │ │ │ ├── hash_code.hpp │ │ │ ├── match_op.hpp │ │ │ ├── old2new.hpp │ │ │ ├── opt_op_info.hpp │ │ │ ├── optimize_run.hpp │ │ │ ├── record_csum.hpp │ │ │ ├── record_pv.hpp │ │ │ ├── record_vp.hpp │ │ │ ├── record_vv.hpp │ │ │ ├── size_pair.hpp │ │ │ └── usage.hpp │ │ ├── parameter_op.hpp │ │ ├── player.hpp │ │ ├── pod_vector.hpp │ │ ├── pow_op.hpp │ │ ├── print_op.hpp │ │ ├── prototype_op.hpp │ │ ├── recorder.hpp │ │ ├── rev_hes_sweep.hpp │ │ ├── rev_jac_sweep.hpp │ │ ├── reverse_sweep.hpp │ │ ├── set_get_in_parallel.hpp │ │ ├── sign_op.hpp │ │ ├── sin_op.hpp │ │ ├── sinh_op.hpp │ │ ├── sparse_binary_op.hpp │ │ ├── sparse_internal.hpp │ │ ├── sparse_list.hpp │ │ ├── sparse_pack.hpp │ │ ├── sparse_sizevec.hpp │ │ ├── sparse_unary_op.hpp │ │ ├── sqrt_op.hpp │ │ ├── std_set.hpp │ │ ├── store_op.hpp │ │ ├── sub_op.hpp │ │ ├── subgraph │ │ │ ├── arg_variable.hpp │ │ │ ├── entire_call.hpp │ │ │ ├── get_rev.hpp │ │ │ ├── info.hpp │ │ │ ├── init_rev.hpp │ │ │ └── sparsity.hpp │ │ ├── tan_op.hpp │ │ ├── tanh_op.hpp │ │ ├── user_state.hpp │ │ └── zmul_op.hpp │ ├── speed │ │ ├── det_33.hpp │ │ ├── det_by_lu.hpp │ │ ├── det_by_minor.hpp │ │ ├── det_grad_33.hpp │ │ ├── det_of_minor.hpp │ │ ├── mat_sum_sq.hpp │ │ ├── ode_evaluate.hpp │ │ ├── sparse_hes_fun.hpp │ │ ├── sparse_jac_fun.hpp │ │ └── uniform_01.hpp │ ├── utility.hpp │ ├── utility │ │ ├── check_numeric_type.hpp │ │ ├── check_simple_vector.hpp │ │ ├── elapsed_seconds.hpp │ │ ├── error_handler.hpp │ │ ├── index_sort.hpp │ │ ├── lu_factor.hpp │ │ ├── lu_invert.hpp │ │ ├── lu_solve.hpp │ │ ├── memory_leak.hpp │ │ ├── nan.hpp │ │ ├── near_equal.hpp │ │ ├── ode_err_control.hpp │ │ ├── ode_gear.hpp │ │ ├── ode_gear_control.hpp │ │ ├── omp_alloc.hpp │ │ ├── poly.hpp │ │ ├── pow_int.hpp │ │ ├── romberg_mul.hpp │ │ ├── romberg_one.hpp │ │ ├── rosen_34.hpp │ │ ├── runge_45.hpp │ │ ├── set_union.hpp │ │ ├── sparse_rc.hpp │ │ ├── sparse_rcv.hpp │ │ ├── speed_test.hpp │ │ ├── test_boolofvoid.hpp │ │ ├── thread_alloc.hpp │ │ ├── time_test.hpp │ │ ├── to_string.hpp │ │ ├── track_new_del.hpp │ │ └── vector.hpp │ └── wno_conversion.hpp └── mpc_controller.h ├── launch └── mpc_controller_node.launch ├── package.xml ├── params └── mpc_params.yaml ├── script └── mpc_plot.py └── src ├── mpc_controller.cpp └── mpc_controller_node.cpp /.gitignore: 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