├── .github └── workflows │ └── tests.yml ├── .gitignore ├── .pre-commit-config.yaml ├── README.md ├── data ├── closed_loop_feasible.txt ├── closed_loop_multi_laps.txt └── input_multi_laps.txt ├── environment.yml ├── iterative_ilqr ├── control │ ├── __init__.py │ ├── ilqr_helper.py │ ├── iterative_ilqr.py │ └── nonlinear_lmpc.py ├── result │ ├── README.md │ ├── ilqr_test_add_moving_obstacle.py │ ├── ilqr_test_add_static_obstacle.py │ ├── ilqr_test_no_obstacle.py │ ├── ilqr_test_static_obstacle.py │ ├── nlmpc_test_add_moving_obstacle.py │ ├── nlmpc_test_add_static_obstacle.py │ ├── nlmpc_test_no_obstacle.py │ └── nlmpc_test_static_obstacle.py ├── systems │ ├── __init__.py │ └── kinetic_bicycle.py ├── tests │ ├── __init__.py │ ├── ilqr_test.py │ └── nlmpc_test.py └── utils │ ├── __init__.py │ ├── base.py │ └── constants_kinetic_bicycle.py ├── pyproject.toml ├── requirements.txt ├── setup.cfg ├── setup.py └── tests ├── __init__.py ├── ilqr_test.py └── nlmpc_test.py 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