├── .gitignore ├── CITATION.cff ├── LICENSE.md ├── README.md ├── animate.m ├── chebyshev.m ├── collectConstraints.m ├── demo ├── acrobot │ ├── Derive_acrobot.m │ ├── MAIN.m │ ├── README.txt │ ├── acrobotDynamics.m │ ├── acrobotEnergy.m │ ├── acrobotKinematics.m │ ├── autoGen_acrobotDynamics.m │ ├── autoGen_acrobotEnergy.m │ ├── autoGen_acrobotKinematics.m │ ├── drawAcrobot.m │ ├── drawStopActionAcrobot.m │ └── plotAcrobot.m ├── cartPole │ ├── Derive_cartPole.m │ ├── MAIN_minForce.m │ ├── MAIN_minTime.m │ ├── README.txt │ ├── RESULTS_makePlots.m │ ├── TEST_openLoopDynamics.m │ ├── autoGen_cartPoleDynamics.m │ ├── autoGen_cartPoleEnergy.m │ ├── autoGen_cartPoleKinematics.m │ ├── cartPoleDynamics.m │ ├── cartPoleEnergy.m │ ├── cartPoleKinematics.m │ ├── drawCartPoleAnim.m │ ├── drawCartPoleTraj.m │ └── plotPendulumCart.m ├── fiveLinkBiped │ ├── Derive_Equations.m │ ├── MAIN.m │ ├── README.md │ ├── RESULTS.m │ ├── TEST_drawRobot.m │ ├── autoGen_contactForce.m │ ├── autoGen_cst_footVel.m │ ├── autoGen_cst_heelStrike.m │ ├── autoGen_cst_steplength.m │ ├── autoGen_dynSs.m │ ├── autoGen_energy.m │ ├── autoGen_getPoints.m │ ├── autoGen_obj_torqueSquared.m │ ├── contactForces.m │ ├── costOfTransport │ │ ├── Derive_Equations.m │ │ ├── MAIN.m │ │ ├── README.md │ │ ├── TEST_drawRobot.m │ │ ├── TEST_dynamics.m │ │ ├── TEST_heelStrike.m │ │ ├── autoGen_contactForce.m │ │ ├── autoGen_cst_costOfTransport.m │ │ ├── autoGen_cst_footVel.m │ │ ├── autoGen_cst_heelStrike.m │ │ ├── autoGen_cst_steplength.m │ │ ├── autoGen_cst_swingFootHeight.m │ │ ├── autoGen_dynSs.m │ │ ├── autoGen_energy.m │ │ ├── autoGen_getPoints.m │ │ ├── autoGen_obj_costOfTransport.m │ │ ├── contactForces.m │ │ ├── cst_footVel.m │ │ ├── cst_heelStrike.m │ │ ├── cst_stepLength.m │ │ ├── dirColGrad.m │ │ ├── drawRobot.m │ │ ├── drawRobotStopAction.m │ │ ├── dynamics.m │ │ ├── energy.m │ │ ├── getPhysicalParameters.m │ │ ├── getPoints.m │ │ ├── obj_costOfTransport.m │ │ ├── pathConstraint.m │ │ └── stepConstraint.m │ ├── cst_footVel.m │ ├── cst_heelStrike.m │ ├── cst_stepLength.m │ ├── drawRobot.m │ ├── drawRobotStopAction.m │ ├── dynamics.m │ ├── energy.m │ ├── getPhysicalParameters.m │ ├── getPoints.m │ ├── obj_torqueSquared.m │ ├── pathConstraint.m │ └── stepConstraint.m ├── goddardRocket │ ├── MAIN.m │ ├── rocketDynamics.m │ └── rocketDynamicsBetts.m ├── gradientsTutorial │ ├── MAIN.m │ ├── README.md │ ├── dynamics.m │ └── pathObjective.m ├── minTimeBvp │ ├── MAIN.m │ ├── README.md │ └── scalarChainIntegrator.m ├── minimumSnap │ ├── README.md │ ├── chainIntegrator │ │ ├── MAIN.m │ │ └── dynamics.m │ ├── minAccel │ │ ├── MAIN.m │ │ ├── dynamics.m │ │ ├── pathConstraint.m │ │ ├── pathObjective.m │ │ └── pendulum.m │ ├── minJerk │ │ ├── MAIN.m │ │ ├── dynamics.m │ │ ├── pathConstraint.m │ │ ├── pathObjective.m │ │ └── pendulum.m │ └── minSnap │ │ ├── MAIN.m │ │ ├── dynamics.m │ │ ├── pathConstraint.m │ │ ├── pathObjective.m │ │ └── pendulum.m ├── minimumWork │ ├── MAIN_cstWork.m │ ├── MAIN_forceSquared.m │ ├── MAIN_smoothWork.m │ ├── README.md │ ├── cstDyn.m │ ├── cstSlackPower.m │ ├── dynamics.m │ ├── obj_cstWork.m │ ├── obj_forceSquared.m │ └── obj_smoothWork.m ├── quadRotor2d │ ├── Derive_EoM.m │ ├── MAIN_minAccelTraj.m │ ├── MAIN_minForceTraj.m │ ├── MAIN_minJerkTraj.m │ ├── MAIN_simulate.m │ ├── autoGen_dynamics.m │ ├── controller.m │ ├── dynAcc.m │ ├── dynJerk.m │ ├── dynQuadRotor.m │ ├── dynamics.m │ ├── pathCst.m │ └── pathObj.m ├── quadRotor3d │ ├── MAIN_minThrottleTraj.m │ ├── MAIN_minTimeTraj.m │ ├── README.md │ ├── TESTRUNNER.m │ ├── dynBodyFrame.m │ ├── dynQuadRotor3d.m │ ├── test │ │ ├── TEST_Euler2RotMat.m │ │ ├── TEST_computePropOpPoint.m │ │ ├── TEST_definePropulsionModel.m │ │ ├── TEST_dynBodyFrame.m │ │ ├── TEST_dynQuadRotor3d.m │ │ └── TEST_plotPropLoc.m │ └── utilities │ │ ├── Euler2RotMat.m │ │ ├── computePropOpPoint.m │ │ ├── definePropulsionModel.m │ │ ├── loadPlant_QuadRotor3d.m │ │ ├── plotPropLoc.m │ │ ├── plotQuadRotor3d.m │ │ └── showPropulsionModel.m ├── readme.md ├── simplePendulum │ ├── MAIN.m │ ├── README.md │ └── dynamics.m ├── simpleWalker │ ├── Derive_simpleWalker.m │ ├── MAIN.m │ ├── README.md │ ├── autoGen_dynamics.m │ ├── autoGen_energy.m │ ├── autoGen_heelStrike.m │ ├── autoGen_kinematics.m │ ├── chebyshevPoints.m │ ├── costFun.m │ ├── dynamics.m │ ├── energy.m │ ├── heelStrike.m │ ├── kinematics.m │ └── periodicGait.m └── toyCar │ ├── MAIN.m │ ├── README.md │ ├── drawHills.m │ ├── dynamics.m │ ├── hills.m │ └── objective.m ├── directCollocation.m ├── docs ├── AnalyticGradients │ ├── .DS_Store │ ├── AnalyticGradients.pdf │ ├── AnalyticGradients.tex │ ├── Figures │ │ ├── .DS_Store │ │ ├── Presentation1.pptx │ │ ├── multipleShooting.pdf │ │ ├── multipleShooting_defects.pdf │ │ └── singleShooting.pdf │ ├── ToDo.md │ ├── biblio.bib │ └── ieeeconf.cls └── UsersGuide │ ├── OptimTraj_UsersGuide.pdf │ ├── OptimTraj_UsersGuide.tex │ ├── TrajectoryOptimization.bib │ └── tex │ ├── introduction.tex │ ├── 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