├── +sp_utils ├── Duffing_ode.m ├── Duffing_to_ss.m ├── LDLsolve.m ├── add_default_options_to_struct.m ├── add_line.m ├── add_notice.m ├── declare_variables.m ├── default_options.m ├── determine_formulation.m ├── example_OscMass.m ├── find_in_cell.m ├── find_unused_file_name.m ├── full2CSC.m ├── full2CSR.m ├── full2LDL.m ├── gen_oscillating_masses.m ├── get_full_path.m ├── get_generic_mex_exec.m ├── proj_D.m ├── proj_SOC.m ├── proj_SSOC.m ├── scale_ss.m └── smv.m ├── .gitignore ├── LICENSE ├── README.md ├── classes ├── Spcies_constructor.m ├── Spcies_options.m └── Spcies_problem.m ├── docs ├── MPC.md ├── develop.md ├── general.md ├── laxMPC.md ├── method.md ├── options.md ├── param.md ├── sys.md ├── timing.md └── topics.md ├── examples ├── README.txt ├── cl_in_C │ └── main_cl_in_C.c ├── t00_basic_tutorial.m ├── t01_time_varying_MPC.m ├── t02_plain_C_solvers.m ├── t03_real_systems.m └── t04_dev_solver_versions.m ├── formulations ├── +HMPC │ ├── code_HMPC_ADMM_C.c │ ├── code_HMPC_ADMM_split_C.c │ ├── code_ellipHMPC_ADMM_C.c │ ├── compute_HMPC_ADMM_ingredients.m │ ├── compute_HMPC_ADMM_split_ingredients.m │ ├── compute_HMPC_SADMM_split_ingredients.m │ ├── compute_ellipHMPC_ADMM_ingredients.m │ ├── cons_HMPC_ADMM_C.m │ ├── cons_HMPC_ADMM_Matlab.m │ ├── cons_HMPC_ADMM_split_C.m │ ├── cons_HMPC_ADMM_split_Matlab.m │ ├── cons_HMPC_SADMM_split_C.m │ ├── cons_HMPC_SADMM_split_Matlab.m │ ├── cons_ellipHMPC_ADMM_C.m │ ├── cons_ellipHMPC_ADMM_Matlab.m │ ├── def_options_HMPC_ADMM.m │ ├── def_options_HMPC_SADMM.m │ ├── def_options_ellipHMPC_ADMM.m │ ├── header_HMPC_ADMM_C.h │ ├── header_HMPC_ADMM_split_C.h │ ├── header_ellipHMPC_ADMM_C.h │ ├── struct_HMPC_ADMM_C_Matlab.c │ ├── struct_HMPC_ADMM_split_C_Matlab.c │ └── struct_ellipHMPC_ADMM_C_Matlab.c ├── +MPCT │ ├── code_MPCT_ADMM_cs_C.c │ ├── code_MPCT_ADMM_semiband_C.c │ ├── code_MPCT_EADMM_C.c │ ├── compute_MPCT_ADMM_cs_ingredients.m │ ├── compute_MPCT_ADMM_semiband_ingredients.m │ ├── compute_MPCT_EADMM_ingredients.m │ ├── cons_MPCT_ADMM_cs_C.m │ ├── cons_MPCT_ADMM_cs_Matlab.m │ ├── cons_MPCT_ADMM_semiband_C.m │ ├── cons_MPCT_ADMM_semiband_Matlab.m │ ├── cons_MPCT_EADMM_C.m │ ├── cons_MPCT_EADMM_Matlab.m │ ├── def_options_MPCT_ADMM_cs.m │ ├── def_options_MPCT_ADMM_semiband.m │ ├── def_options_MPCT_EADMM.m │ ├── header_MPCT_ADMM_cs_C.h │ ├── header_MPCT_ADMM_semiband_C.h │ ├── header_MPCT_EADMM_C.h │ ├── struct_MPCT_ADMM_cs_C_Matlab.c │ ├── struct_MPCT_ADMM_semiband_C_Matlab.c │ └── struct_MPCT_EADMM_C_Matlab.c ├── +ellipMPC │ ├── code_ellipMPC_ADMM_C.c │ ├── code_ellipMPC_ADMM_soc_C.c │ ├── compute_ellipMPC_ADMM_ingredients.m │ ├── compute_ellipMPC_ADMM_soc_ingredients.m │ ├── cons_ellipMPC_ADMM_C.m │ ├── cons_ellipMPC_ADMM_Matlab.m │ ├── cons_ellipMPC_ADMM_soc_C.m │ ├── cons_ellipMPC_ADMM_soc_Matlab.m │ ├── def_options_ellipMPC_ADMM.m │ ├── def_options_ellipMPC_ADMM_soc.m │ ├── header_ellipMPC_ADMM_C.h │ ├── header_ellipMPC_ADMM_soc_C.h │ ├── struct_ellipMPC_ADMM_C_Matlab.c │ └── struct_ellipMPC_ADMM_soc_C_Matlab.c ├── +equMPC │ ├── code_equMPC_ADMM_C.c │ ├── code_equMPC_FISTA_C.c │ ├── compute_equMPC_ADMM_ingredients.m │ ├── compute_equMPC_FISTA_ingredients.m │ ├── cons_equMPC_ADMM_C.m │ ├── cons_equMPC_ADMM_Matlab.m │ ├── cons_equMPC_FISTA_C.m │ ├── cons_equMPC_FISTA_Matlab.m │ ├── def_options_equMPC_ADMM.m │ ├── def_options_equMPC_FISTA.m │ ├── header_equMPC_ADMM_C.h │ ├── header_equMPC_FISTA_C.h │ ├── struct_equMPC_ADMM_C_Matlab.c │ └── struct_equMPC_FISTA_C_Matlab.c ├── +laxMPC │ ├── code_laxMPC_ADMM_C.c │ ├── code_laxMPC_FISTA_C.c │ ├── compute_laxMPC_ADMM_ingredients.m │ ├── compute_laxMPC_FISTA_ingredients.m │ ├── cons_laxMPC_ADMM_C.m │ ├── cons_laxMPC_ADMM_Matlab.m │ ├── cons_laxMPC_FISTA_C.m │ ├── cons_laxMPC_FISTA_Matlab.m │ ├── def_options_laxMPC_ADMM.m │ ├── def_options_laxMPC_FISTA.m │ ├── header_laxMPC_ADMM_C.h │ ├── header_laxMPC_FISTA_C.h │ ├── struct_laxMPC_ADMM_C_Matlab.c │ └── struct_laxMPC_FISTA_C_Matlab.c └── +personal │ └── .gitignore ├── generated_solvers └── .gitignore ├── platforms ├── +C_code │ ├── dec_var.m │ ├── declare_variables.m │ ├── generic_solver_struct.c │ └── get_generic_solver_struct.m └── Matlab │ ├── personal │ └── .gitignore │ ├── solve_boxQP.m │ ├── solve_eqQP.m │ ├── spcies_HMPC_ADMM_solver.m │ ├── spcies_HMPC_ADMM_split_SOC_solver.m │ ├── spcies_HMPC_ADMM_split_solver.m │ ├── spcies_HMPC_SADMM_split_SOC_solver.m │ ├── spcies_HMPC_SADMM_split_solver.m │ ├── spcies_MPCT_ADMM_cs_solver.m │ ├── spcies_MPCT_ADMM_semiband_solver.m │ ├── spcies_MPCT_EADMM_solver.m │ ├── spcies_ellipMPC_ADMM_soc_solver.m │ ├── spcies_ellipMPC_ADMM_solver.m │ ├── spcies_equMPC_ADMM_solver.m │ ├── spcies_equMPC_FISTA_solver.m │ ├── spcies_laxMPC_ADMM_solver.m │ └── spcies_laxMPC_FISTA_solver.m ├── snippets ├── get_elapsed_time.c ├── get_elapsed_time.h ├── proj_SOC3.c ├── proj_SOC3.h ├── read_time.c └── read_time.h ├── spcies.m ├── spcies_clear.m ├── 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