├── .gitignore ├── CMakeLists.txt ├── README.md ├── codegen ├── lib │ └── ecLQR_laine │ │ ├── .gitignore │ │ ├── codedescriptor.dmr │ │ ├── coder_array.h │ │ ├── defines.txt │ │ ├── ecLQR_laine.cpp │ │ ├── ecLQR_laine.h │ │ ├── ecLQR_laine_data.cpp │ │ ├── ecLQR_laine_data.h │ │ ├── ecLQR_laine_initialize.cpp │ │ ├── ecLQR_laine_initialize.h │ │ ├── ecLQR_laine_rtw.mk │ │ ├── ecLQR_laine_terminate.cpp │ │ ├── ecLQR_laine_terminate.h │ │ ├── ecLQR_laine_types.h │ │ ├── examples │ │ ├── main.cpp │ │ └── main.h │ │ ├── html │ │ └── report.mldatx │ │ ├── interface │ │ ├── _coder_ecLQR_laine_api.c │ │ ├── _coder_ecLQR_laine_api.h │ │ ├── _coder_ecLQR_laine_mex.c │ │ └── _coder_ecLQR_laine_mex.h │ │ ├── mldivide.cpp │ │ ├── mldivide.h │ │ ├── mtimes.cpp │ │ ├── mtimes.h │ │ ├── pinv.cpp │ │ ├── pinv.h │ │ ├── rtGetInf.cpp │ │ ├── rtGetInf.h │ │ ├── rtGetNaN.cpp │ │ ├── rtGetNaN.h │ │ ├── rt_nonfinite.cpp │ │ ├── rt_nonfinite.h │ │ ├── rtwtypes.h │ │ ├── svd.cpp │ │ ├── svd.h │ │ ├── svd1.cpp │ │ ├── svd1.h │ │ ├── tic.cpp │ │ ├── tic.h │ │ ├── timeKeeper.cpp │ │ ├── timeKeeper.h │ │ ├── toc.cpp │ │ ├── toc.h │ │ ├── xaxpy.cpp │ │ ├── xaxpy.h │ │ ├── xdotc.cpp │ │ ├── xdotc.h │ │ ├── xgeqp3.cpp │ │ ├── xgeqp3.h │ │ ├── xnrm2.cpp │ │ ├── xnrm2.h │ │ ├── xrot.cpp │ │ ├── xrot.h │ │ ├── xrotg.cpp │ │ ├── xrotg.h │ │ ├── xswap.cpp │ │ └── xswap.h └── mex │ └── ecLQR_laine │ ├── .gitignore │ └── html │ └── report.mldatx ├── compare_close_loop.eps ├── compare_close_loop.fig ├── compare_close_loop_2.eps ├── compare_equally_constrained.fig ├── compare_equally_constrained.jpg ├── compare_equally_constrained2.jpg ├── compare_over_constrained.fig ├── compare_over_constrained.jpg ├── compare_under_constrained.fig ├── compare_under_constrained.jpg ├── compare_under_constrained2.jpg ├── cost_constraint_compare.eps ├── cost_constraint_compare_3.eps ├── cross_time_step.eps ├── cross_time_step_no.eps ├── cross_time_step_no.pdf ├── ecLQR_KKT.m ├── ecLQR_fg.m ├── ecLQR_fg_cross.m ├── ecLQR_laine.m ├── ecLQR_laine.prj ├── ecLQR_qp.m ├── ecLQR_sideris.m ├── fourplots.pdf ├── getConViolate.m ├── getCost.m ├── getCost_2.m ├── scripts ├── CMakeLists.txt ├── laine_benchmarks.cpp ├── simple_2d_system.cpp └── three_by_three_system_state_and_control.cpp ├── simple_2d_system.m ├── simple_2d_system_cross_time.m ├── simple_2d_system_drawing_for_paper.m ├── simple_2d_system_over_constrained.m ├── simple_2d_system_state_and_control.m ├── simple_2d_system_state_only.m ├── simple_2d_system_under_constrained.m ├── src ├── CMakeLists.txt ├── EcLqrParams.h ├── EcLqr_fg-impl.h ├── EcLqr_fg.cpp ├── EcLqr_fg.h ├── EcLqr_laine-impl.h └── EcLqr_laine.h ├── test.csv ├── tests ├── CMakeLists.txt ├── data │ ├── simple_2d_system.h │ └── three_by_three_system_state_and_control.h ├── exampleProblems.h ├── testEcLqr_fg.cpp └── testEcLqr_laine.cpp ├── three_by_three_system_state_and_control.m ├── three_by_three_system_state_only.m ├── three_by_two.csv ├── three_by_twoB1001002.csv ├── 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