├── .clang-format ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── CMakePresets.json ├── LICENSE ├── README.md ├── examples ├── CMakeLists.txt └── pendulum_on_cart │ ├── CMakeLists.txt │ ├── gif │ └── pendulum_on_cart.gif │ ├── include │ └── pendulum_on_cart.hpp │ ├── plot │ └── pendulum_on_cart.png │ ├── scripts │ ├── animate.py │ ├── requirements.txt │ └── visualize.py │ └── src │ └── main.cpp ├── ilqr ├── controller │ └── ilqr.hpp ├── cost_functions │ ├── cost_function.hpp │ ├── cost_function_with_finite_diff.hpp │ └── quadratic_cost_function.hpp ├── integration │ ├── iterator │ │ ├── constant_integration_iterator.hpp │ │ └── integration_iterator.hpp │ └── stepper │ │ ├── euler_integration_stepper.hpp │ │ ├── integration_stepper.hpp │ │ ├── rk2_integration_stepper.hpp │ │ ├── rk3_integration_stepper.hpp │ │ └── rk4_integration_stepper.hpp └── systems │ ├── continuous_time │ ├── continuous_system.hpp │ └── continuous_system_with_finite_diff.hpp │ └── discrete_time │ ├── discrete_system.hpp │ ├── discrete_system_with_finite_diff.hpp │ └── discretizer.hpp ├── tests ├── CMakeLists.txt └── ilqr │ ├── cost_function │ └── test_cost_function_with_finite_diff.cc │ └── system │ └── test_discrete_system_with_finite_diff.cc └── vcpkg.json /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HalukErdogan/ilqr/HEAD/.clang-format -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode 2 | build 3 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HalukErdogan/ilqr/HEAD/.gitmodules -------------------------------------------------------------------------------- /CMakeLists.txt: 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