├── Common ├── Gait.m ├── MatrixPartial.m ├── RotX.m ├── RotY.m ├── RotZ.m ├── Sym.m ├── Trans.m ├── getMatVecProdPar.m ├── getRectangle.m ├── pointToCloud.m ├── spatial_v2 │ ├── 3D │ │ ├── rq.m │ │ ├── rqd.m │ │ ├── rv.m │ │ ├── rx.m │ │ ├── ry.m │ │ ├── rz.m │ │ └── skew.m │ ├── dynamics │ │ ├── EnerMo.m │ │ ├── FDab.m │ │ ├── FDcrb.m │ │ ├── FDfb.m │ │ ├── FDgq.m │ │ ├── HD.m │ │ ├── HandC.m │ │ ├── ID.m │ │ ├── IDfb.m │ │ ├── apply_external_forces.m │ │ ├── fbanim.m │ │ ├── fbkin.m │ │ ├── get_gravity.m │ │ └── jcalc.m │ ├── models │ │ ├── autoTree.m │ │ ├── cartpole.m │ │ ├── cartpole.m~ │ │ ├── doubleElbow.m │ │ ├── floatbase.m │ │ ├── gfxExample.m │ │ ├── planar.m │ │ ├── rollingdisc.m │ │ ├── scissor.m │ │ ├── singlebody.m │ │ └── vee.m │ ├── slprj │ │ └── sim │ │ │ └── varcache │ │ │ └── example6 │ │ │ ├── checksumOfCache.mat │ │ │ ├── tmwinternal │ │ │ └── simulink_cache.xml │ │ │ └── varInfo.mat │ ├── sparsity │ │ ├── LTDL.m │ │ ├── LTL.m │ │ ├── expandLambda.m │ │ ├── mpyH.m │ │ ├── mpyL.m │ │ ├── mpyLi.m │ │ ├── mpyLit.m │ │ └── mpyLt.m │ ├── spatial │ │ ├── Fpt.m │ │ ├── Vpt.m │ │ ├── Xpt.m │ │ ├── XtoV.m │ │ ├── crf.m │ │ ├── crm.m │ │ ├── mcI.m │ │ ├── plnr.m │ │ ├── pluho.m │ │ ├── plux.m │ │ ├── rotx.m │ │ ├── roty.m │ │ ├── rotz.m │ │ └── xlt.m │ └── startup.m └── wsquare.m ├── Examples ├── BouncingBall │ ├── BouncingBallOptimization.m │ ├── Constraints │ │ └── BouncingConstraint.m │ ├── Cost │ │ └── BouncingCost.m │ ├── Data │ │ └── Nathan │ │ │ ├── direct_collocation_trajectory_1_bounce.mat │ │ │ └── saltation_matrix_trajectory_1_bounce.mat │ ├── Dynamics │ │ └── BouncingBall.m │ ├── Figure │ │ ├── compare_hsddp2saltation.m │ │ └── plot_constraint_violation.m │ ├── createBouncingBallTask.m │ └── initializeBouncingTraj.m └── Quadurped │ ├── Bounding │ ├── BoundingModeLib.m │ ├── BoundingOptimization.m │ ├── BoundingReference.m │ ├── Constraint │ │ ├── GRF_constraint.m │ │ ├── SwitchingConstraint.m │ │ ├── joint_limit.m │ │ ├── support │ │ │ ├── Back_TouchDown_Constraint.m │ │ │ ├── Front_TouchDown_Constraint.m │ │ │ └── WB_terminal_constr_support.m │ │ └── torque_limit.m │ ├── Cost │ │ ├── FBCost.m │ │ └── WBCost.m │ └── createBoundingTask.m │ ├── Controllers │ └── HeuristicPD │ │ ├── getSpringVec.m │ │ └── heuristic_bounding_controller.m │ ├── Dynamics │ ├── BaseDyn.m │ ├── FB │ │ ├── FootholdPlanner.m │ │ ├── PlanarFloatingBase.m │ │ └── Support │ │ │ ├── FBDynamics.m │ │ │ ├── FBDynamics_par.m │ │ │ └── FBDynamimcs_support.m │ ├── WB │ │ ├── PlanarQuadruped.m │ │ ├── Support │ │ │ ├── FreeDynamics_par.m │ │ │ └── WBDynamics_support.m │ │ ├── build2DminiCheetah.m │ │ └── getFDPar.m │ ├── get2DMCParams.m │ └── get3DMCParams.m │ └── Kinematics │ ├── Link1Jacobian.m │ ├── Link1Jacobian_par.m │ ├── Link2Jacobian.m │ ├── Link2Jacobian_par.m │ ├── Link3Jacobian.m │ ├── Link3Jacobian_par.m │ ├── Link4Jacobian.m │ ├── Link4Jacobian_par.m │ ├── Link5Jacobian.m │ └── Link5Jacobian_par.m ├── HSDDP ├── AL_params_struct.m ├── 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