├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── Notes.md ├── README.md ├── TODO.md ├── cmgmp ├── CMakeLists.txt ├── contacts │ ├── contact_constraints.cpp │ ├── contact_constraints.h │ ├── contact_kinematics.cpp │ ├── contact_kinematics.h │ ├── contact_mode_enumeration.cpp │ ├── contact_mode_enumeration.h │ ├── contact_utils.cpp │ └── contact_utils.h ├── dart_utils │ ├── dart_utils.cpp │ └── dart_utils.h ├── external │ ├── CMakeLists.txt │ ├── eigen3 │ │ ├── Eigen │ │ │ ├── Cholesky │ │ │ ├── CholmodSupport │ │ │ ├── Core │ │ │ ├── Dense │ │ │ ├── Eigen │ │ │ ├── Eigenvalues │ │ │ ├── Geometry │ │ │ ├── Householder │ │ │ ├── IterativeLinearSolvers │ │ │ ├── Jacobi │ │ │ ├── LU │ │ │ ├── MetisSupport │ │ │ ├── OrderingMethods │ │ │ ├── PaStiXSupport │ │ │ ├── PardisoSupport │ │ │ ├── QR │ │ │ ├── QtAlignedMalloc │ │ │ ├── SPQRSupport │ │ │ ├── SVD │ │ │ ├── Sparse │ │ │ ├── SparseCholesky │ │ │ ├── SparseCore │ │ │ ├── SparseLU │ │ │ ├── SparseQR │ │ │ ├── StdDeque │ │ │ ├── StdList │ │ │ ├── StdVector │ │ │ ├── SuperLUSupport │ │ │ ├── UmfPackSupport │ │ │ └── src │ │ │ │ ├── Cholesky │ │ │ │ ├── LDLT.h │ │ │ │ ├── LLT.h │ │ │ │ └── LLT_LAPACKE.h │ │ │ │ ├── CholmodSupport │ │ │ │ └── CholmodSupport.h │ │ │ │ ├── Core │ │ │ │ ├── Array.h │ │ │ │ ├── ArrayBase.h │ │ │ │ ├── ArrayWrapper.h │ │ │ │ ├── Assign.h │ │ │ │ ├── AssignEvaluator.h │ │ │ │ ├── Assign_MKL.h │ │ │ │ ├── BandMatrix.h │ │ │ │ ├── Block.h │ │ │ │ ├── BooleanRedux.h │ │ │ │ ├── CommaInitializer.h │ │ │ │ ├── ConditionEstimator.h │ │ │ │ ├── CoreEvaluators.h │ │ │ │ ├── CoreIterators.h │ │ │ │ ├── CwiseBinaryOp.h │ │ │ │ ├── CwiseNullaryOp.h │ │ │ │ ├── CwiseTernaryOp.h │ │ │ │ ├── CwiseUnaryOp.h │ │ │ │ ├── CwiseUnaryView.h │ │ │ │ ├── DenseBase.h │ │ │ │ ├── DenseCoeffsBase.h │ │ │ │ ├── DenseStorage.h │ │ │ │ ├── Diagonal.h │ │ │ │ ├── DiagonalMatrix.h │ │ │ │ ├── DiagonalProduct.h │ │ │ │ ├── Dot.h │ │ │ │ ├── EigenBase.h │ │ │ │ ├── ForceAlignedAccess.h │ │ │ │ ├── Fuzzy.h │ │ │ │ ├── GeneralProduct.h │ │ │ │ ├── GenericPacketMath.h │ │ │ │ ├── GlobalFunctions.h │ │ │ │ ├── IO.h │ │ │ │ ├── Inverse.h │ │ │ │ ├── Map.h │ │ │ │ ├── MapBase.h │ │ │ │ ├── MathFunctions.h │ │ │ │ ├── MathFunctionsImpl.h │ │ │ │ ├── Matrix.h │ │ │ │ ├── MatrixBase.h │ │ │ │ ├── NestByValue.h │ │ │ │ ├── NoAlias.h │ │ │ │ ├── NumTraits.h │ │ │ │ ├── PermutationMatrix.h │ │ │ │ ├── PlainObjectBase.h │ │ │ │ ├── Product.h │ │ │ │ ├── ProductEvaluators.h │ │ │ │ ├── Random.h │ │ │ │ ├── Redux.h │ │ │ │ ├── Ref.h │ │ │ │ ├── Replicate.h │ │ │ │ ├── ReturnByValue.h │ │ │ │ ├── Reverse.h │ │ │ │ ├── Select.h │ │ │ │ ├── SelfAdjointView.h │ │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ │ ├── Solve.h │ │ │ │ ├── SolveTriangular.h │ │ │ │ ├── SolverBase.h │ │ │ │ ├── StableNorm.h │ │ │ │ ├── Stride.h │ │ │ │ ├── Swap.h │ │ │ │ ├── Transpose.h │ │ │ │ ├── Transpositions.h │ │ │ │ ├── TriangularMatrix.h │ │ │ │ ├── VectorBlock.h │ │ │ │ ├── VectorwiseOp.h │ │ │ │ ├── Visitor.h │ │ │ │ ├── arch │ │ │ │ │ ├── AVX │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── AVX512 │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── AltiVec │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── CUDA │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── Half.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ ├── PacketMathHalf.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ ├── Default │ │ │ │ │ │ ├── ConjHelper.h │ │ │ │ │ │ └── Settings.h │ │ │ │ │ ├── NEON │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ │ ├── SSE │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ │ └── TypeCasting.h │ │ │ │ │ └── ZVector │ │ │ │ │ │ ├── Complex.h │ │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── functors │ │ │ │ │ ├── AssignmentFunctors.h │ │ │ │ │ ├── BinaryFunctors.h │ │ │ │ │ ├── NullaryFunctors.h │ │ │ │ │ ├── StlFunctors.h │ │ │ │ │ ├── TernaryFunctors.h │ │ │ │ │ └── UnaryFunctors.h │ │ │ │ ├── products │ │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ │ │ ├── Parallelizer.h │ │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ │ │ └── TriangularSolverVector.h │ │ │ │ └── util │ │ │ │ │ ├── BlasUtil.h │ │ │ │ │ ├── Constants.h │ │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ │ ├── MKL_support.h │ │ │ │ │ ├── Macros.h │ │ │ │ │ ├── Memory.h │ │ │ │ │ ├── Meta.h │ │ │ │ │ ├── NonMPL2.h │ │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ │ ├── StaticAssert.h │ │ │ │ │ └── XprHelper.h │ │ │ │ ├── Eigenvalues │ │ │ │ ├── ComplexEigenSolver.h │ │ │ │ ├── ComplexSchur.h │ │ │ │ ├── ComplexSchur_LAPACKE.h │ │ │ │ ├── EigenSolver.h │ │ │ │ ├── GeneralizedEigenSolver.h │ │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ │ ├── HessenbergDecomposition.h │ │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ │ ├── RealQZ.h │ │ │ │ ├── RealSchur.h │ │ │ │ ├── RealSchur_LAPACKE.h │ │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ │ │ └── Tridiagonalization.h │ │ │ │ ├── Geometry │ │ │ │ ├── AlignedBox.h │ │ │ │ ├── AngleAxis.h │ │ │ │ ├── EulerAngles.h │ │ │ │ ├── Homogeneous.h │ │ │ │ ├── Hyperplane.h │ │ │ │ ├── OrthoMethods.h │ │ │ │ ├── ParametrizedLine.h │ │ │ │ ├── Quaternion.h │ │ │ │ ├── Rotation2D.h │ │ │ │ ├── RotationBase.h │ │ │ │ ├── Scaling.h │ │ │ │ ├── Transform.h │ │ │ │ ├── Translation.h │ │ │ │ ├── Umeyama.h │ │ │ │ └── arch │ │ │ │ │ └── Geometry_SSE.h │ │ │ │ ├── Householder │ │ │ │ ├── BlockHouseholder.h │ │ │ │ ├── Householder.h │ │ │ │ └── HouseholderSequence.h │ │ │ │ ├── IterativeLinearSolvers │ │ │ │ ├── BasicPreconditioners.h │ │ │ │ ├── BiCGSTAB.h │ │ │ │ ├── ConjugateGradient.h │ │ │ │ ├── IncompleteCholesky.h │ │ │ │ ├── IncompleteLUT.h │ │ │ │ ├── IterativeSolverBase.h │ │ │ │ ├── LeastSquareConjugateGradient.h │ │ │ │ └── SolveWithGuess.h │ │ │ │ ├── Jacobi │ │ │ │ └── Jacobi.h │ │ │ │ ├── LU │ │ │ │ ├── Determinant.h │ │ │ │ ├── FullPivLU.h │ │ │ │ ├── InverseImpl.h │ │ │ │ ├── PartialPivLU.h │ │ │ │ ├── PartialPivLU_LAPACKE.h │ │ │ │ └── arch │ │ │ │ │ └── Inverse_SSE.h │ │ │ │ ├── MetisSupport │ │ │ │ └── MetisSupport.h │ │ │ │ ├── OrderingMethods │ │ │ │ ├── Amd.h │ │ │ │ ├── Eigen_Colamd.h │ │ │ │ └── Ordering.h │ │ │ │ ├── PaStiXSupport │ │ │ │ └── PaStiXSupport.h │ │ │ │ ├── PardisoSupport │ │ │ │ └── PardisoSupport.h │ │ │ │ ├── QR │ │ │ │ ├── ColPivHouseholderQR.h │ │ │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ │ │ ├── CompleteOrthogonalDecomposition.h │ │ │ │ ├── FullPivHouseholderQR.h │ │ │ │ ├── HouseholderQR.h │ │ │ │ └── HouseholderQR_LAPACKE.h │ │ │ │ ├── SPQRSupport │ │ │ │ └── SuiteSparseQRSupport.h │ │ │ │ ├── SVD │ │ │ │ ├── BDCSVD.h │ │ │ │ ├── JacobiSVD.h │ │ │ │ ├── JacobiSVD_LAPACKE.h │ │ │ │ ├── SVDBase.h │ │ │ │ └── UpperBidiagonalization.h │ │ │ │ ├── SparseCholesky │ │ │ │ ├── SimplicialCholesky.h │ │ │ │ └── SimplicialCholesky_impl.h │ │ │ │ ├── SparseCore │ │ │ │ ├── AmbiVector.h │ │ │ │ ├── CompressedStorage.h │ │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ │ ├── MappedSparseMatrix.h │ │ │ │ ├── SparseAssign.h │ │ │ │ ├── SparseBlock.h │ │ │ │ ├── SparseColEtree.h │ │ │ │ ├── SparseCompressedBase.h │ │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ │ ├── SparseDenseProduct.h │ │ │ │ ├── SparseDiagonalProduct.h │ │ │ │ ├── SparseDot.h │ │ │ │ ├── SparseFuzzy.h │ │ │ │ ├── SparseMap.h │ │ │ │ ├── SparseMatrix.h │ │ │ │ ├── SparseMatrixBase.h │ │ │ │ ├── SparsePermutation.h │ │ │ │ ├── SparseProduct.h │ │ │ │ ├── SparseRedux.h │ │ │ │ ├── SparseRef.h │ │ │ │ ├── SparseSelfAdjointView.h │ │ │ │ ├── SparseSolverBase.h │ │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ │ ├── SparseTranspose.h │ │ │ │ ├── SparseTriangularView.h │ │ │ │ ├── SparseUtil.h │ │ │ │ ├── SparseVector.h │ │ │ │ ├── SparseView.h │ │ │ │ └── TriangularSolver.h │ │ │ │ ├── SparseLU │ │ │ │ ├── SparseLU.h │ │ │ │ ├── SparseLUImpl.h │ │ │ │ ├── SparseLU_Memory.h │ │ │ │ ├── SparseLU_Structs.h │ │ │ │ ├── SparseLU_SupernodalMatrix.h │ │ │ │ ├── SparseLU_Utils.h │ │ │ │ ├── SparseLU_column_bmod.h │ │ │ │ ├── SparseLU_column_dfs.h │ │ │ │ ├── SparseLU_copy_to_ucol.h │ │ │ │ ├── SparseLU_gemm_kernel.h │ │ │ │ ├── SparseLU_heap_relax_snode.h │ │ │ │ ├── SparseLU_kernel_bmod.h │ │ │ │ ├── SparseLU_panel_bmod.h │ │ │ │ ├── SparseLU_panel_dfs.h │ │ │ │ ├── SparseLU_pivotL.h │ │ │ │ ├── SparseLU_pruneL.h │ │ │ │ └── SparseLU_relax_snode.h │ │ │ │ ├── SparseQR │ │ │ │ └── SparseQR.h │ │ │ │ ├── StlSupport │ │ │ │ ├── StdDeque.h │ │ │ │ ├── StdList.h │ │ │ │ ├── StdVector.h │ │ │ │ └── details.h │ │ │ │ ├── SuperLUSupport │ │ │ │ └── SuperLUSupport.h │ │ │ │ ├── UmfPackSupport │ │ │ │ └── UmfPackSupport.h │ │ │ │ ├── misc │ │ │ │ ├── Image.h │ │ │ │ ├── Kernel.h │ │ │ │ ├── RealSvd2x2.h │ │ │ │ ├── blas.h │ │ │ │ ├── lapack.h │ │ │ │ ├── lapacke.h │ │ │ │ └── lapacke_mangling.h │ │ │ │ └── plugins │ │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ │ ├── BlockMethods.h │ │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ │ └── MatrixCwiseUnaryOps.h │ │ ├── signature_of_eigen3_matrix_library │ │ └── unsupported │ │ │ └── Eigen │ │ │ ├── AdolcForward │ │ │ ├── AlignedVector3 │ │ │ ├── ArpackSupport │ │ │ ├── AutoDiff │ │ │ ├── BVH │ │ │ ├── CXX11 │ │ │ ├── Tensor │ │ │ ├── TensorSymmetry │ │ │ ├── ThreadPool │ │ │ └── src │ │ │ │ ├── Tensor │ │ │ │ ├── Tensor.h │ │ │ │ ├── TensorArgMax.h │ │ │ │ ├── TensorAssign.h │ │ │ │ ├── TensorBase.h │ │ │ │ ├── TensorBroadcasting.h │ │ │ │ ├── TensorChipping.h │ │ │ │ ├── TensorConcatenation.h │ │ │ │ ├── TensorContraction.h │ │ │ │ ├── TensorContractionBlocking.h │ │ │ │ ├── TensorContractionCuda.h │ │ │ │ ├── TensorContractionMapper.h │ │ │ │ ├── TensorContractionThreadPool.h │ │ │ │ ├── TensorConversion.h │ │ │ │ ├── TensorConvolution.h │ │ │ │ ├── TensorCostModel.h │ │ │ │ ├── TensorCustomOp.h │ │ │ │ ├── TensorDevice.h │ │ │ │ ├── TensorDeviceCuda.h │ │ │ │ ├── TensorDeviceDefault.h │ │ │ │ ├── TensorDeviceSycl.h │ │ │ │ ├── TensorDeviceThreadPool.h │ │ │ │ ├── TensorDimensionList.h │ │ │ │ ├── TensorDimensions.h │ │ │ │ ├── TensorEvalTo.h │ │ │ │ ├── TensorEvaluator.h │ │ │ │ ├── TensorExecutor.h │ │ │ │ ├── TensorExpr.h │ │ │ │ ├── TensorFFT.h │ │ │ │ ├── TensorFixedSize.h │ │ │ │ ├── TensorForcedEval.h │ │ │ │ ├── TensorForwardDeclarations.h │ │ │ │ ├── TensorFunctors.h │ │ │ │ ├── TensorGenerator.h │ │ │ │ ├── TensorGlobalFunctions.h │ │ │ │ ├── TensorIO.h │ │ │ │ ├── TensorImagePatch.h │ │ │ │ ├── TensorIndexList.h │ │ │ │ ├── TensorInflation.h │ │ │ │ ├── TensorInitializer.h │ │ │ │ ├── TensorIntDiv.h │ │ │ │ ├── TensorLayoutSwap.h │ │ │ │ ├── TensorMacros.h │ │ │ │ ├── TensorMap.h │ │ │ │ ├── TensorMeta.h │ │ │ │ ├── TensorMorphing.h │ │ │ │ ├── TensorPadding.h │ │ │ │ ├── TensorPatch.h │ │ │ │ ├── TensorRandom.h │ │ │ │ ├── TensorReduction.h │ │ │ │ ├── TensorReductionCuda.h │ │ │ │ ├── TensorReductionSycl.h │ │ │ │ ├── TensorRef.h │ │ │ │ ├── TensorReverse.h │ │ │ │ ├── TensorScan.h │ │ │ │ ├── TensorShuffling.h │ │ │ │ ├── TensorStorage.h │ │ │ │ ├── TensorStriding.h │ │ │ │ ├── TensorSycl.h │ │ │ │ ├── TensorSyclConvertToDeviceExpression.h │ │ │ │ ├── TensorSyclExprConstructor.h │ │ │ │ ├── TensorSyclExtractAccessor.h │ │ │ │ ├── TensorSyclExtractFunctors.h │ │ │ │ ├── TensorSyclLeafCount.h │ │ │ │ ├── TensorSyclPlaceHolderExpr.h │ │ │ │ ├── TensorSyclRun.h │ │ │ │ ├── TensorSyclTuple.h │ │ │ │ ├── TensorTraits.h │ │ │ │ ├── TensorUInt128.h │ │ │ │ └── TensorVolumePatch.h │ │ │ │ ├── TensorSymmetry │ │ │ │ ├── DynamicSymmetry.h │ │ │ │ ├── StaticSymmetry.h │ │ │ │ ├── Symmetry.h │ │ │ │ └── util │ │ │ │ │ └── TemplateGroupTheory.h │ │ │ │ ├── ThreadPool │ │ │ │ ├── EventCount.h │ │ │ │ ├── NonBlockingThreadPool.h │ │ │ │ ├── RunQueue.h │ │ │ │ ├── SimpleThreadPool.h │ │ │ │ ├── ThreadEnvironment.h │ │ │ │ ├── ThreadLocal.h │ │ │ │ ├── ThreadPoolInterface.h │ │ │ │ └── ThreadYield.h │ │ │ │ └── util │ │ │ │ ├── CXX11Meta.h │ │ │ │ ├── CXX11Workarounds.h │ │ │ │ ├── EmulateArray.h │ │ │ │ ├── EmulateCXX11Meta.h │ │ │ │ └── MaxSizeVector.h │ │ │ ├── EulerAngles │ │ │ ├── FFT │ │ │ ├── IterativeSolvers │ │ │ ├── KroneckerProduct │ │ │ ├── LevenbergMarquardt │ │ │ ├── MPRealSupport │ │ │ ├── MatrixFunctions │ │ │ ├── MoreVectorization │ │ │ ├── NonLinearOptimization │ │ │ ├── NumericalDiff │ │ │ ├── OpenGLSupport │ │ │ ├── Polynomials │ │ │ ├── Skyline │ │ │ ├── SparseExtra │ │ │ ├── SpecialFunctions │ │ │ ├── Splines │ │ │ └── src │ │ │ ├── AutoDiff │ │ │ ├── AutoDiffJacobian.h │ │ │ ├── AutoDiffScalar.h │ │ │ └── AutoDiffVector.h │ │ │ ├── BVH │ │ │ ├── BVAlgorithms.h │ │ │ └── KdBVH.h │ │ │ ├── Eigenvalues │ │ │ └── ArpackSelfAdjointEigenSolver.h │ │ │ ├── EulerAngles │ │ │ ├── EulerAngles.h │ │ │ └── EulerSystem.h │ │ │ ├── FFT │ │ │ ├── ei_fftw_impl.h │ │ │ └── ei_kissfft_impl.h │ │ │ ├── IterativeSolvers │ │ │ ├── ConstrainedConjGrad.h │ │ │ ├── DGMRES.h │ │ │ ├── GMRES.h │ │ │ ├── IncompleteLU.h │ │ │ ├── IterationController.h │ │ │ ├── MINRES.h │ │ │ └── Scaling.h │ │ │ ├── KroneckerProduct │ │ │ └── KroneckerTensorProduct.h │ │ │ ├── LevenbergMarquardt │ │ │ ├── LMcovar.h │ │ │ ├── LMonestep.h │ │ │ ├── LMpar.h │ │ │ ├── LMqrsolv.h │ │ │ └── LevenbergMarquardt.h │ │ │ ├── MatrixFunctions │ │ │ ├── MatrixExponential.h │ │ │ ├── MatrixFunction.h │ │ │ ├── MatrixLogarithm.h │ │ │ ├── MatrixPower.h │ │ │ ├── MatrixSquareRoot.h │ │ │ └── StemFunction.h │ │ │ ├── MoreVectorization │ │ │ └── MathFunctions.h │ │ │ ├── NonLinearOptimization │ │ │ ├── HybridNonLinearSolver.h │ │ │ ├── LevenbergMarquardt.h │ │ │ ├── chkder.h │ │ │ ├── covar.h │ │ │ ├── dogleg.h │ │ │ ├── fdjac1.h │ │ │ ├── lmpar.h │ │ │ ├── qrsolv.h │ │ │ ├── r1mpyq.h │ │ │ ├── r1updt.h │ │ │ └── rwupdt.h │ │ │ ├── NumericalDiff │ │ │ └── NumericalDiff.h │ │ │ ├── Polynomials │ │ │ ├── Companion.h │ │ │ ├── PolynomialSolver.h │ │ │ └── PolynomialUtils.h │ │ │ ├── Skyline │ │ │ ├── SkylineInplaceLU.h │ │ │ ├── SkylineMatrix.h │ │ │ ├── SkylineMatrixBase.h │ │ │ ├── SkylineProduct.h │ │ │ ├── SkylineStorage.h │ │ │ └── SkylineUtil.h │ │ │ ├── SparseExtra │ │ │ ├── BlockOfDynamicSparseMatrix.h │ │ │ ├── BlockSparseMatrix.h │ │ │ ├── DynamicSparseMatrix.h │ │ │ ├── MarketIO.h │ │ │ ├── MatrixMarketIterator.h │ │ │ └── RandomSetter.h │ │ │ ├── SpecialFunctions │ │ │ ├── SpecialFunctionsArrayAPI.h │ │ │ ├── SpecialFunctionsFunctors.h │ │ │ ├── SpecialFunctionsHalf.h │ │ │ ├── SpecialFunctionsImpl.h │ │ │ ├── SpecialFunctionsPacketMath.h │ │ │ └── arch │ │ │ │ └── CUDA │ │ │ │ └── CudaSpecialFunctions.h │ │ │ └── Splines │ │ │ ├── Spline.h │ │ │ ├── SplineFitting.h │ │ │ └── SplineFwd.h │ └── modus │ │ ├── CMakeLists.txt │ │ ├── apps │ │ ├── CMakeLists.txt │ │ └── hesse_diagram.py │ │ ├── bench │ │ ├── CMakeLists.txt │ │ ├── bench_arrangements.cpp │ │ ├── bench_subspace.cpp │ │ └── profile_arrangements.cpp │ │ ├── cmake │ │ ├── FindGperftools.cmake │ │ └── FindQhull.cmake │ │ ├── data │ │ └── test │ │ │ ├── box-1.npz │ │ │ ├── box-2.npz │ │ │ ├── box-3.npz │ │ │ ├── box-4.npz │ │ │ ├── box-5.npz │ │ │ ├── cs_modes │ │ │ ├── box-1.npz │ │ │ ├── box-2.npz │ │ │ ├── box-3.npz │ │ │ ├── box-4.npz │ │ │ ├── box-5.npz │ │ │ └── box-box-1.npz │ │ │ ├── gen_test_data.py │ │ │ ├── modus.test_logging.xianyi-XPS-13-9350.xianyi.log.INFO.20210205-122151.16349 │ │ │ ├── modus.test_logging.xianyi-XPS-13-9350.xianyi.log.INFO.20210205-163624.26963 │ │ │ └── ss_modes │ │ │ ├── box-1.npz │ │ │ ├── box-2.npz │ │ │ ├── box-3.npz │ │ │ ├── box-4.npz │ │ │ └── box-5.npz │ │ ├── include │ │ └── modus │ │ │ ├── collision │ │ │ ├── collision.hpp │ │ │ └── contact.hpp │ │ │ ├── common │ │ │ ├── assert.hpp │ │ │ ├── backward.hpp │ │ │ ├── convex_hull.hpp │ │ │ ├── eigen.hpp │ │ │ ├── linear_algebra-impl.hpp │ │ │ ├── linear_algebra.hpp │ │ │ ├── logging.hpp │ │ │ ├── memory.hpp │ │ │ └── serialization.hpp │ │ │ ├── dynamics │ │ │ ├── actuator_dynamics.hpp │ │ │ ├── coefficient_of_friction.hpp │ │ │ ├── contact_dynamics.hpp │ │ │ ├── continuous_dynamics.hpp │ │ │ ├── dynamics.hpp │ │ │ ├── gravito_intertial_dynamics.hpp │ │ │ └── mass_matrix.hpp │ │ │ ├── examples │ │ │ ├── basic_collision.hpp │ │ │ ├── box.hpp │ │ │ ├── plane.hpp │ │ │ ├── se3_state.hpp │ │ │ └── sphere.hpp │ │ │ ├── geometry │ │ │ ├── bounds.hpp │ │ │ ├── box.hpp │ │ │ ├── cylinder.hpp │ │ │ ├── distance.hpp │ │ │ ├── edge.hpp │ │ │ ├── face.hpp │ │ │ ├── geometry.hpp │ │ │ ├── halfedge.hpp │ │ │ ├── halfedgemesh.hpp │ │ │ ├── icosphere.hpp │ │ │ ├── plane.hpp │ │ │ ├── ray.hpp │ │ │ └── vertex.hpp │ │ │ ├── graphics │ │ │ ├── glad.hpp │ │ │ ├── khrplatform.hpp │ │ │ └── opengl.hpp │ │ │ ├── integration │ │ │ ├── forward_euler.hpp │ │ │ └── integration.hpp │ │ │ ├── kinematics │ │ │ ├── contact_constraint.hpp │ │ │ ├── contact_kinematics.hpp │ │ │ ├── jacobian.hpp │ │ │ ├── jacobian_body.hpp │ │ │ ├── jacobian_floating.hpp │ │ │ ├── jacobian_geometric.hpp │ │ │ ├── jacobian_spatial.hpp │ │ │ └── kinematics.hpp │ │ │ ├── modes │ │ │ ├── constraints.hpp │ │ │ ├── enumerate.hpp │ │ │ ├── geometry │ │ │ │ ├── arrangements.hpp │ │ │ │ ├── convex_hull.hpp │ │ │ │ ├── halfspace_intersection.hpp │ │ │ │ ├── hyperplane.hpp │ │ │ │ ├── incidence_graph.hpp │ │ │ │ └── interior_point.hpp │ │ │ ├── graph.hpp │ │ │ ├── graph │ │ │ │ ├── contact_mode_graph.hpp │ │ │ │ ├── csmode_graph.hpp │ │ │ │ ├── incidence_graph.hpp │ │ │ │ ├── nested_graph.hpp │ │ │ │ ├── product_graph.hpp │ │ │ │ └── ssmode_graph.hpp │ │ │ ├── modus.hpp │ │ │ ├── preprocess.hpp │ │ │ └── preprocess │ │ │ │ ├── csmode_preprocessor.hpp │ │ │ │ ├── matroid_preprocessor.hpp │ │ │ │ ├── nullspace_preprocessor.hpp │ │ │ │ └── ssmode_preprocessor.hpp │ │ │ ├── qpcc │ │ │ ├── bounds.hpp │ │ │ ├── cost.hpp │ │ │ ├── qp.hpp │ │ │ ├── qpOASES.hpp │ │ │ ├── qpcc.hpp │ │ │ ├── solver.hpp │ │ │ └── solvers │ │ │ │ ├── MICP.hpp │ │ │ │ ├── SNOPT.hpp │ │ │ │ ├── adjacent_modes.hpp │ │ │ │ └── full_modes.hpp │ │ │ └── system │ │ │ ├── aspect.hpp │ │ │ ├── body.hpp │ │ │ ├── composite.hpp │ │ │ ├── detail │ │ │ └── composite.hpp │ │ │ ├── input.hpp │ │ │ ├── link.hpp │ │ │ ├── state.hpp │ │ │ ├── system.hpp │ │ │ └── transform.hpp │ │ └── src │ │ ├── modus_common │ │ ├── CMakeLists.txt │ │ ├── assert.cpp │ │ ├── backward.cpp │ │ ├── convex_hull.cpp │ │ ├── linear_algebra.cpp │ │ ├── logging.cpp │ │ └── serialization.cpp │ │ ├── modus_geometry │ │ ├── CMakeLists.txt │ │ ├── bounds.cpp │ │ ├── box.cpp │ │ ├── distance.cpp │ │ ├── edge.cpp │ │ ├── face.cpp │ │ ├── glad.cpp │ │ ├── halfedge.cpp │ │ ├── halfedgemesh.cpp │ │ ├── opengl.cpp │ │ ├── plane.cpp │ │ ├── rectangle.cpp │ │ ├── transforms.cpp │ │ └── vertex.cpp │ │ ├── modus_kinematics │ │ ├── CMakeLists.txt │ │ ├── contact_constraint.cpp │ │ ├── contact_kinematics.cpp │ │ ├── jacobian_body.cpp │ │ ├── jacobian_floating.cpp │ │ ├── jacobian_geometric.cpp │ │ ├── jacobian_spatial.cpp │ │ └── kinematics.cpp │ │ ├── modus_modes │ │ ├── CMakeLists.txt │ │ ├── constraints.cpp │ │ ├── enumerate_modes.cpp │ │ ├── geometry │ │ │ ├── arrangements.cpp │ │ │ ├── convex_hull.cpp │ │ │ ├── halfspace_intersection.cpp │ │ │ ├── incidence_graph.cpp │ │ │ └── interior_point.cpp │ │ ├── preprocess.cpp │ │ └── preprocess │ │ │ └── matroid_preprocessor.cpp │ │ └── modus_system │ │ ├── CMakeLists.txt │ │ ├── body.cpp │ │ ├── link.cpp │ │ ├── system.cpp │ │ └── transform.cpp ├── manipulators │ ├── DartDDHand.cpp │ ├── DartDDHand.h │ ├── DartDDHandFreeY.cpp │ ├── DartDDHandFreeY.h │ ├── DartKR5.cpp │ ├── DartKR5.h │ ├── DartManipulatorTemplate.h │ ├── DartParallelJawGripper.cpp │ ├── DartParallelJawGripper.h │ ├── DartPointManipulator.cpp │ ├── DartPointManipulator.h │ ├── DartURDFManipulatorTemplate.h │ ├── ManipulatorTemplate.h │ └── ddhand │ │ ├── handik.h │ │ ├── two_link_kinematics.cpp │ │ └── two_link_kinematics.h ├── search │ ├── planner_option.h │ ├── rrtplanner.cpp │ ├── rrtplanner.h │ ├── tree.cpp │ └── tree.h ├── search_hierarchical │ ├── hierarchical_planner.cpp │ ├── hierarchical_planner.h │ ├── hierarchical_tree.cpp │ ├── hierarchical_tree.h │ └── todo.md ├── utilities │ ├── eiquadprog.hpp │ ├── sample.cpp │ ├── sample.h │ ├── sample_grasp.cpp │ ├── sample_grasp.h │ ├── utilities.cpp │ └── utilities.h └── worlds │ ├── DartWorld.cpp │ ├── DartWorld.h │ ├── PlanningWorld.cpp │ ├── PlanningWorld.h │ └── WorldTemplate.h ├── data ├── grasp_sampling │ ├── BIG_SCREW.csv │ ├── BIG_SCREW_dense.csv │ ├── BIG_SCREW_grasps.csv │ ├── ball_compound_r_1.csv │ ├── ball_radius_1.csv │ ├── bookshelf_surface_points.csv │ ├── box_halflength_1.csv │ ├── box_halflength_1_ddhand.csv │ ├── box_halflength_1_grasps.csv │ ├── box_lx_1_ly_4_lz_4.csv │ ├── box_lx_1_ly_4_lz_4_ddhand.csv │ ├── box_lx_2_ly_4_lz_2.csv │ ├── cylindar_l_2_r_1.csv │ ├── peg_out_of_hole_surface_points.csv │ ├── russian_block_l_2.csv │ ├── russian_block_l_2_grasps.csv │ ├── small_bumper_scale_200.csv │ ├── socket_screw.csv │ ├── tetrahedron_1.csv │ └── torus_tri.csv ├── meshes │ ├── stl │ │ ├── ball_compound_r_1.stl │ │ ├── ball_radius_1.stl │ │ ├── box_halflength_1.stl │ │ ├── box_lx_1_ly_4_lz_4.stl │ │ ├── box_lx_2_ly_4_lz_2.stl │ │ ├── box_lx_2_ly_4_lz_4.stl │ │ ├── cylindar_l_2_r_1.stl │ │ ├── russian_block_l_2.stl │ │ ├── screw.stl │ │ └── tetrahedron_1.stl │ └── stl_scale_50 │ │ ├── BIG_SCREW.stl │ │ ├── ball_compound_r_1.stl │ │ ├── ball_radius_1.stl │ │ ├── box_halflength_1.stl │ │ ├── box_lx_1_ly_4_lz_4.stl │ │ ├── box_lx_2_ly_4_lz_2.stl │ │ ├── box_lx_2_ly_4_lz_4.stl │ │ ├── cylindar_l_2_r_1.stl │ │ ├── russian_block_l_2.stl │ │ ├── small_bumper_scale_200.stl │ │ ├── small_bumper_scale_2000.stl │ │ ├── small_bumper_scale_5000.stl │ │ ├── socket_screw.stl │ │ ├── tetrahedron_1.stl │ │ └── torus_tri.stl ├── robot_workspace │ ├── KR5_workspace.csv │ └── KR5_workspace_convhull.csv └── urdf │ └── KR5 │ ├── KR5 sixx R650.urdf │ ├── ground.urdf │ └── meshes │ ├── base_link.STL │ ├── bicep.STL │ ├── elbow.STL │ ├── forearm.STL │ ├── palm.STL │ ├── shoulder.STL │ └── wrist.STL ├── examples ├── CMakeLists.txt ├── KR5.cpp ├── bookshelf.cpp ├── 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