├── .clang-format ├── .gersemirc ├── .gitattributes ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md └── workflows │ ├── check-changelog.yml │ ├── gh-pages.yml │ ├── macos-linux-windows-pixi.yml │ └── update_pixi_lockfile.yml ├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── .pre-commit-config.yaml ├── CHANGELOG.md ├── CITATION.cff ├── CITATIONS.bib ├── CMakeLists.txt ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── bindings ├── CMakeLists.txt └── python │ ├── CMakeLists.txt │ ├── expose-autodiff.cpp │ ├── expose-callbacks.cpp │ ├── expose-cartesian-product.cpp │ ├── expose-constraint.cpp │ ├── expose-cost.cpp │ ├── expose-function.cpp │ ├── expose-ldlt.cpp │ ├── expose-manifold.cpp │ ├── expose-pinocchio-residuals.cpp │ ├── expose-problem.cpp │ ├── expose-quadratic-costs.cpp │ ├── expose-residual.cpp │ ├── expose-results.cpp │ ├── expose-solver.cpp │ ├── expose-workspace.cpp │ ├── include │ └── proxsuite-nlp │ │ └── python │ │ ├── deprecation-policy.hpp │ │ ├── function.hpp │ │ ├── fwd.hpp │ │ ├── polymorphic.hpp │ │ ├── residuals.hpp │ │ └── utils │ │ └── namespace.hpp │ ├── module.cpp │ └── proxsuite_nlp │ ├── __init__.py │ ├── casadi_utils.py │ ├── utils.py │ └── windows_dll_manager.py ├── doc ├── Doxyfile.extra.in ├── doxygen-awesome-darkmode-toggle.js ├── doxygen-awesome.css ├── header.html ├── images │ └── proxsuite-logo.png └── macros.inc ├── examples ├── CMakeLists.txt ├── camera_pose_optimization.py ├── cartpole-endpoint.py ├── circle.cpp ├── circle.py ├── cost_sum_barycenter.py ├── double_pendulum.py ├── equality-qp.cpp ├── example-base.hpp ├── finite-diff.py ├── function_subclass.py ├── l1_qp.py ├── manifolds.py ├── qp.py ├── so2.cpp ├── solo_inverse_geom.py ├── talos_yoga.py ├── ur5-ik.cpp ├── ur_ik.py └── utils.py ├── include └── proxsuite-nlp │ ├── bcl-params.hpp │ ├── bfgs-strategy.hpp │ ├── constraint-base.hpp │ ├── constraint-set.hpp │ ├── constraint-set.hxx │ ├── context.hpp │ ├── cost-function.hpp │ ├── cost-function.txx │ ├── cost-sum.hpp │ ├── cost-sum.hxx │ ├── cost-sum.txx │ ├── exceptions.hpp │ ├── fmt-eigen.hpp │ ├── fmt-hessian-approx.hpp │ ├── function-base.hpp │ ├── function-base.txx │ ├── function-ops.hpp │ ├── function-ops.txx │ ├── fwd.hpp │ ├── helpers-base.hpp │ ├── helpers │ ├── history-callback.hpp │ └── print-callback.hpp │ ├── ldlt-allocator.hpp │ ├── linalg │ ├── block-kind.hpp │ ├── block-ldlt.hpp │ ├── block-ldlt.hxx │ ├── block-ldlt.txx │ ├── block-triangular.hpp │ ├── bunchkaufman.hpp │ ├── dense.hpp │ ├── gemmt.hpp │ ├── ldlt-base.hpp │ └── proxsuite-ldlt-wrap.hpp │ ├── linesearch-armijo.hpp │ ├── linesearch-base.hpp │ ├── linesearch.txx │ ├── logger.hpp │ ├── macros.hpp │ ├── manifold-base.hpp │ ├── manifold-base.hxx │ ├── manifold-base.txx │ ├── math.hpp │ ├── modelling │ ├── autodiff │ │ ├── casadi-wrapper.hpp │ │ └── finite-difference.hpp │ ├── constraints.hpp │ ├── constraints │ │ ├── box-constraint.hpp │ │ ├── constraint-set-product.hpp │ │ ├── equality-constraint.hpp │ │ ├── l1-penalty.hpp │ │ └── negative-orthant.hpp │ ├── costs │ │ ├── quadratic-residual.hpp │ │ ├── quadratic-residual.hxx │ │ ├── quadratic-residual.txx │ │ ├── squared-distance.hpp │ │ └── squared-distance.txx │ ├── residuals │ │ ├── linear.hpp │ │ ├── rigid-transform-point.hpp │ │ ├── rigid-transform-point.txx │ │ └── state-residual.hpp │ └── spaces │ │ ├── cartesian-product.hpp │ │ ├── cartesian-product.hxx │ │ ├── cartesian-product.txx │ │ ├── multibody.hpp │ │ ├── multibody.txx │ │ ├── pinocchio-groups.hpp │ │ ├── tangent-bundle.hpp │ │ ├── tangent-bundle.hxx │ │ └── vector-space.hpp │ ├── pdal.hpp │ ├── pdal.hxx │ ├── pdal.txx │ ├── problem-base.hpp │ ├── problem-base.txx │ ├── prox-solver.hpp │ ├── prox-solver.hxx │ ├── prox-solver.txx │ ├── results.hpp │ ├── results.txx │ ├── third-party │ ├── .clang-format │ └── polymorphic_cxx14.hpp │ ├── version.hpp │ ├── workspace.hpp │ └── workspace.txx ├── package.xml ├── pixi.lock ├── pixi.toml ├── pyproject.toml ├── scripts ├── README.md ├── plot_block_sparse_bench.py └── plot_dense_bench.py ├── src ├── block-kind.cpp ├── block-ldlt.cpp ├── cartesian-product.cpp ├── constraint-set-product.cpp ├── constraint-set.cpp ├── constraints.cpp ├── cost-function.cpp ├── cost-sum.cpp ├── function-base.cpp ├── linesearch-armijo.cpp ├── linesearch-base.cpp ├── manifold-base.cpp ├── multibody │ ├── rigid-transform-point.cpp │ └── spaces.cpp ├── pdal.cpp ├── problem-base.cpp ├── prox-solver.cpp ├── quadratic-residual.cpp ├── results.cpp ├── squared-distance.cpp └── workspace.cpp └── tests ├── CMakeLists.txt ├── bfgs-strategy.cpp ├── bunchkaufman.cpp ├── cholesky-block-sparse-bench.cpp ├── cholesky-block-sparse.cpp ├── cholesky-dense-bench.cpp ├── cnpy-load.cpp ├── cnpy.cpp ├── cnpy.hpp ├── constraints.cpp ├── costs.cpp ├── finite-diff.cpp ├── functions.cpp ├── linesearch.cpp ├── manifolds.cpp ├── math.cpp ├── npy_payload.npy ├── npy_payload2.npy ├── python ├── CMakeLists.txt ├── 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