├── .gitignore ├── .travis.yml ├── README.md ├── examples ├── __init__.py ├── cart_pole_dynamics.m ├── disjunctive_inequalities.ipynb ├── hybrid_mpc.ipynb ├── hybrid_mpc_2.ipynb ├── linear_mpc.ipynb ├── maximal_constraint_admissible_set.ipynb └── pwa_from_urdf │ ├── __init__.py │ ├── cart_pole.urdf │ ├── cart_pole_from_urdf.ipynb │ └── utils.py ├── pympc ├── __init__.py ├── control │ ├── __init__.py │ └── controllers.py ├── dynamics │ ├── __init__.py │ ├── discrete_time_systems.py │ ├── discretization_methods.py │ └── utils.py ├── geometry │ ├── __init__.py │ ├── polyhedron.py │ └── utils.py ├── optimization │ ├── __init__.py │ ├── parametric_programs.py │ ├── programs.py │ └── solvers │ │ ├── __init__.py │ │ ├── drake.py │ │ ├── gurobi.py │ │ └── pnnls.py ├── plot.py └── test │ ├── __init__.py │ ├── test_control │ ├── __init__.py │ └── test_controllers.py │ ├── test_dynamics │ ├── __init__.py │ ├── test_discrete_time_systems.py │ ├── test_discretization_methods.py │ └── test_utils.py │ ├── test_geometry │ ├── __init__.py │ ├── test_polyhedron.py │ └── test_utils.py │ └── test_optimization │ ├── __init__.py │ ├── test_parametric_programs.py │ ├── test_programs.py │ └── test_solvers.py ├── requirements.txt └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/.gitignore -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/.travis.yml -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/README.md -------------------------------------------------------------------------------- /examples/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /examples/cart_pole_dynamics.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/examples/cart_pole_dynamics.m -------------------------------------------------------------------------------- /examples/disjunctive_inequalities.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/examples/disjunctive_inequalities.ipynb -------------------------------------------------------------------------------- /examples/hybrid_mpc.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/examples/hybrid_mpc.ipynb -------------------------------------------------------------------------------- /examples/hybrid_mpc_2.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/examples/hybrid_mpc_2.ipynb -------------------------------------------------------------------------------- /examples/linear_mpc.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/examples/linear_mpc.ipynb -------------------------------------------------------------------------------- /examples/maximal_constraint_admissible_set.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/examples/maximal_constraint_admissible_set.ipynb -------------------------------------------------------------------------------- /examples/pwa_from_urdf/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /examples/pwa_from_urdf/cart_pole.urdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/examples/pwa_from_urdf/cart_pole.urdf -------------------------------------------------------------------------------- /examples/pwa_from_urdf/cart_pole_from_urdf.ipynb: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/examples/pwa_from_urdf/cart_pole_from_urdf.ipynb -------------------------------------------------------------------------------- /examples/pwa_from_urdf/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/examples/pwa_from_urdf/utils.py -------------------------------------------------------------------------------- /pympc/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /pympc/control/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /pympc/control/controllers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/control/controllers.py -------------------------------------------------------------------------------- /pympc/dynamics/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /pympc/dynamics/discrete_time_systems.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/dynamics/discrete_time_systems.py -------------------------------------------------------------------------------- /pympc/dynamics/discretization_methods.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/dynamics/discretization_methods.py -------------------------------------------------------------------------------- /pympc/dynamics/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/dynamics/utils.py -------------------------------------------------------------------------------- /pympc/geometry/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /pympc/geometry/polyhedron.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/geometry/polyhedron.py -------------------------------------------------------------------------------- /pympc/geometry/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/geometry/utils.py -------------------------------------------------------------------------------- /pympc/optimization/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /pympc/optimization/parametric_programs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/optimization/parametric_programs.py -------------------------------------------------------------------------------- /pympc/optimization/programs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/optimization/programs.py -------------------------------------------------------------------------------- /pympc/optimization/solvers/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /pympc/optimization/solvers/drake.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/optimization/solvers/drake.py -------------------------------------------------------------------------------- /pympc/optimization/solvers/gurobi.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/optimization/solvers/gurobi.py -------------------------------------------------------------------------------- /pympc/optimization/solvers/pnnls.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/optimization/solvers/pnnls.py -------------------------------------------------------------------------------- /pympc/plot.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/plot.py -------------------------------------------------------------------------------- /pympc/test/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /pympc/test/test_control/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /pympc/test/test_control/test_controllers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/test/test_control/test_controllers.py -------------------------------------------------------------------------------- /pympc/test/test_dynamics/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /pympc/test/test_dynamics/test_discrete_time_systems.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/test/test_dynamics/test_discrete_time_systems.py -------------------------------------------------------------------------------- /pympc/test/test_dynamics/test_discretization_methods.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/test/test_dynamics/test_discretization_methods.py -------------------------------------------------------------------------------- /pympc/test/test_dynamics/test_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/test/test_dynamics/test_utils.py -------------------------------------------------------------------------------- /pympc/test/test_geometry/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /pympc/test/test_geometry/test_polyhedron.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/test/test_geometry/test_polyhedron.py -------------------------------------------------------------------------------- /pympc/test/test_geometry/test_utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/test/test_geometry/test_utils.py -------------------------------------------------------------------------------- /pympc/test/test_optimization/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /pympc/test/test_optimization/test_parametric_programs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/test/test_optimization/test_parametric_programs.py -------------------------------------------------------------------------------- /pympc/test/test_optimization/test_programs.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/test/test_optimization/test_programs.py -------------------------------------------------------------------------------- /pympc/test/test_optimization/test_solvers.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/pympc/test/test_optimization/test_solvers.py -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/requirements.txt -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/TobiaMarcucci/pympc/HEAD/setup.py --------------------------------------------------------------------------------