├── LICENSE ├── README.md ├── controller ├── eMPC.m ├── eMPC_casadi.m ├── eMPC_simplified.m └── gMPC.m ├── main.m ├── sim_mpc.m └── utils ├── Control ├── MPCConstraints.m ├── eMPCConstraints.m ├── eMPCCost.m ├── eMPCCost_simplified.m ├── gMPCConstraints.m └── gMPCCost.m ├── EulerAngle ├── RPY2Mat.m ├── RotJac.m └── dRPY2dw.m └── LieGroup ├── AdjointMat.m ├── Jac_SE3_L.m ├── Jac_SO3_L.m ├── SE3Discrete.m ├── SE3Dyn.m ├── adjoint_.m ├── coadjoint.m ├── getError.m └── skew.m /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UMich-CURLY/Error-State-MPC/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Error-State-MPC 2 | Make sure you installed osqp. 3 | 4 | 5 | Run main.m. 6 | -------------------------------------------------------------------------------- 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