├── .clang-format ├── .gersemirc ├── .github └── workflows │ └── macos-linux-pixi.yml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── benchmark ├── CMakeLists.txt ├── go2.cpp └── talos.cpp ├── bindings ├── CMakeLists.txt ├── expose-centroidal.cpp ├── expose-friction-compensation.cpp ├── expose-fulldynamics.cpp ├── expose-interpolate.cpp ├── expose-inverse-dynamics.cpp ├── expose-kinodynamics.cpp ├── expose-mpc.cpp ├── expose-problem.cpp ├── expose-robot-handler.cpp ├── module.cpp └── simple_mpc │ └── __init__.py ├── dependencies.cmake ├── examples ├── bullet_robot.py ├── go2_fulldynamics.py ├── go2_kinodynamics.py ├── talos_centroidal.py ├── talos_fulldynamics.py ├── talos_kinodynamics.py └── utils.py ├── include └── simple-mpc │ ├── centroidal-dynamics.hpp │ ├── foot-trajectory.hpp │ ├── friction-compensation.hpp │ ├── fulldynamics.hpp │ ├── fwd.hpp │ ├── interpolator.hpp │ ├── inverse-dynamics │ ├── centroidal-id.hpp │ └── kinodynamics-id.hpp │ ├── kinodynamics.hpp │ ├── math-util.hpp │ ├── mpc.hpp │ ├── ocp-handler.hpp │ ├── python.hpp │ ├── python │ └── py-ocp-handler.hpp │ └── robot-handler.hpp ├── package.xml ├── pixi.lock ├── pixi.toml ├── src ├── centroidal-dynamics.cpp ├── foot-trajectory.cpp ├── friction-compensation.cpp ├── fulldynamics.cpp ├── interpolator.cpp ├── inverse-dynamics │ ├── centroidal-id.cpp │ └── kinodynamics-id.cpp ├── kinodynamics.cpp ├── mpc.cpp ├── ocp-handler.cpp └── robot-handler.cpp └── tests ├── CMakeLists.txt ├── friction.cpp ├── interpolator.cpp ├── inverse-dynamics ├── centroidal-id.cpp └── kinodynamics-id.cpp ├── mpc.cpp ├── problem.cpp ├── robot_handler.cpp └── test_utils.cpp /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Simple-Robotics/simple-mpc/HEAD/.clang-format -------------------------------------------------------------------------------- /.gersemirc: 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