├── .gitignore ├── .vscode ├── c_cpp_properties.json └── settings.json ├── README.md ├── figs ├── 1.gif ├── 2.gif └── key2joy.png ├── install_tools.sh ├── key2joy.py ├── osqp ├── .bumpversion.cfg ├── .editorconfig ├── .gitattributes ├── .gitmodules ├── .travis.yml ├── .valgrind-suppress.supp ├── CHANGELOG.md ├── CMakeLists.txt ├── LICENSE ├── NOTICE ├── README.md ├── ROADMAP.md ├── appveyor.yml ├── ci │ ├── appveyor │ │ ├── deploy.cmd │ │ ├── install.cmd │ │ └── script.cmd │ └── travis │ │ ├── deploy.sh │ │ ├── docs.sh │ │ ├── install.sh │ │ └── script.sh ├── configure │ ├── cmake │ │ ├── FindPythonModule.cmake │ │ ├── FindR.cmake │ │ ├── Utils.cmake │ │ └── cmake_uninstall.cmake.in │ └── osqp_configure.h.in ├── docs │ ├── Makefile │ ├── _static │ │ ├── css │ │ │ └── osqp_theme.css │ │ └── img │ │ │ ├── favicon.ico │ │ │ ├── logo.pdf │ │ │ └── logo.png │ ├── _templates │ │ └── layout.html │ ├── citing │ │ └── index.rst │ ├── codegen │ │ ├── index.rst │ │ ├── matlab.rst │ │ └── python.rst │ ├── conf.py │ ├── contributing │ │ └── index.rst │ ├── doxygen.conf │ ├── examples │ │ ├── huber.rst │ │ ├── index.rst │ │ ├── lasso.rst │ │ ├── least-squares.rst │ │ ├── mpc.rst │ │ ├── portfolio.rst │ │ ├── setup-and-solve.rst │ │ ├── svm.rst │ │ ├── update-matrices.rst │ │ └── update-vectors.rst │ ├── get_started │ │ ├── CC++.rst │ │ ├── cutest.rst │ │ ├── index.rst │ │ ├── julia.rst │ │ ├── linear_system_solvers.rst │ │ ├── matlab.rst │ │ ├── python.rst │ │ ├── r.rst │ │ └── sources.rst │ ├── index.rst │ ├── interfaces │ │ ├── CC++.rst │ │ ├── cutest.rst │ │ ├── eigen.rst │ │ ├── fortran.rst │ │ ├── index.rst │ │ ├── julia.rst │ │ ├── linear_systems_solvers.rst │ │ ├── matlab.rst │ │ ├── python.rst │ │ ├── rlang.rst │ │ ├── ruby.rst │ │ ├── rust.rst │ │ ├── solver_settings.rst │ │ └── status_values.rst │ ├── make.bat │ ├── parsers │ │ ├── cvxpy.rst │ │ ├── index.rst │ │ ├── jump.rst │ │ └── yalmip.rst │ ├── requirements.txt │ └── solver │ │ └── index.rst ├── examples │ └── osqp_demo.c ├── include │ ├── .gitignore │ ├── CMakeLists.txt │ ├── auxil.h │ ├── constants.h │ ├── cs.h │ ├── ctrlc.h │ ├── error.h │ ├── glob_opts.h │ ├── kkt.h │ ├── lin_alg.h │ ├── lin_sys.h │ ├── osqp.h │ ├── polish.h │ ├── proj.h │ ├── scaling.h │ ├── types.h │ └── util.h ├── lin_sys │ ├── CMakeLists.txt │ ├── direct │ │ ├── CMakeLists.txt │ │ ├── pardiso │ │ │ ├── CMakeLists.txt │ │ │ ├── pardiso_interface.c │ │ │ ├── pardiso_interface.h │ │ │ ├── pardiso_loader.c │ │ │ └── pardiso_loader.h │ │ └── qdldl │ │ │ ├── CMakeLists.txt │ │ │ ├── amd │ │ │ ├── LICENSE │ │ │ ├── include │ │ │ │ ├── SuiteSparse_config.h │ │ │ │ ├── amd.h │ │ │ │ └── amd_internal.h │ │ │ └── src │ │ │ │ ├── SuiteSparse_config.c │ │ │ │ ├── amd_1.c │ │ │ │ ├── amd_2.c │ │ │ │ ├── amd_aat.c │ │ │ │ ├── amd_control.c │ │ │ │ ├── amd_defaults.c │ │ │ │ ├── amd_info.c │ │ │ │ ├── amd_order.c │ │ │ │ ├── amd_post_tree.c │ │ │ │ ├── amd_postorder.c │ │ │ │ ├── amd_preprocess.c │ │ │ │ └── amd_valid.c │ │ │ ├── qdldl_interface.c │ │ │ ├── qdldl_interface.h │ │ │ └── qdldl_sources │ │ │ ├── .editorconfig │ │ │ ├── .gitignore │ │ │ ├── .travis.yml │ │ │ ├── CHANGELOG.md │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── appveyor.yml │ │ │ ├── configure │ │ │ ├── cmake │ │ │ │ └── cmake_uninstall.cmake.in │ │ │ └── qdldl_types.h.in │ │ │ ├── examples │ │ │ └── example.c │ │ │ ├── include │ │ │ ├── .gitignore │ │ │ └── qdldl.h │ │ │ ├── src │ │ │ └── qdldl.c │ │ │ └── tests │ │ │ ├── CMakeLists.txt │ │ │ ├── minunit.h │ │ │ ├── qdldl_tester.c │ │ │ ├── test_basic.h │ │ │ ├── test_identity.h │ │ │ ├── test_osqp_kkt.h │ │ │ ├── test_rank_deficient.h │ │ │ ├── test_singleton.h │ │ │ ├── test_sym_structure.h │ │ │ ├── test_tril_structure.h │ │ │ ├── test_two_by_two.h │ │ │ └── test_zero_on_diag.h │ ├── lib_handler.c │ └── lib_handler.h ├── src │ ├── CMakeLists.txt │ ├── auxil.c │ ├── cs.c │ ├── ctrlc.c │ ├── error.c │ ├── kkt.c │ ├── lin_alg.c │ ├── lin_sys.c │ ├── osqp.c │ ├── polish.c │ ├── proj.c │ ├── scaling.c │ └── util.c └── tests │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── __init__.py │ ├── basic_qp │ ├── CMakeLists.txt │ ├── __init__.py │ ├── generate_problem.py │ └── test_basic_qp.h │ ├── basic_qp2 │ ├── CMakeLists.txt │ ├── __init__.py │ ├── generate_problem.py │ └── test_basic_qp2.h │ ├── custom_memory │ ├── custom_memory.c │ └── custom_memory.h │ ├── demo │ ├── CMakeLists.txt │ └── test_demo.h │ ├── generate_tests_data.py │ ├── lin_alg │ ├── CMakeLists.txt │ ├── __init__.py │ ├── generate_problem.py │ └── test_lin_alg.h │ ├── minunit.h │ ├── non_cvx │ ├── CMakeLists.txt │ ├── __init__.py │ ├── generate_problem.py │ └── test_non_cvx.h │ ├── osqp_tester.c │ ├── osqp_tester.h │ ├── primal_dual_infeasibility │ ├── CMakeLists.txt │ ├── __init__.py │ ├── generate_problem.py │ └── test_primal_dual_infeasibility.h │ ├── primal_infeasibility │ ├── CMakeLists.txt │ ├── __init__.py │ ├── generate_problem.py │ └── test_primal_infeasibility.h │ ├── solve_linsys │ ├── CMakeLists.txt │ ├── __init__.py │ ├── generate_problem.py │ └── test_solve_linsys.h │ ├── unconstrained │ ├── CMakeLists.txt │ ├── __init__.py │ ├── generate_problem.py │ └── test_unconstrained.h │ ├── update_matrices │ ├── CMakeLists.txt │ ├── __init__.py │ ├── generate_problem.py │ └── test_update_matrices.h │ └── utils │ ├── __init__.py │ └── codegen_utils.py ├── simulation.sh └── src ├── CMakeLists.txt ├── cmpcc ├── CMakeLists.txt ├── config │ ├── 3d.rviz │ ├── corridor.yaml │ ├── mpcParameters.yaml │ └── traj.yaml ├── include │ ├── bezier_base.h │ ├── corridor.h │ ├── display_msgs.h │ ├── map.h │ ├── model.h │ ├── mpc_solver.h │ ├── my_spline.h │ ├── osqp_interface.h │ └── sparse_utils.h ├── launch │ ├── flyfly.launch │ ├── plot_bag.launch │ └── vis_bag.launch ├── package.xml └── src │ ├── bezier_base.cpp │ ├── corridor.cpp │ ├── corridor_test.cpp │ ├── display_msg.cpp │ ├── fly_trr_node.cpp │ ├── flyfly_node.cpp │ ├── map.cpp │ ├── model.cpp │ ├── mpc_solver.cpp │ ├── my_spline.cpp │ ├── osqp_interface.cpp │ ├── osqp_test.cpp │ ├── plot_bag_node.cpp │ ├── simulation_node.cpp │ └── solver_test.cpp └── uav_simulator ├── DecompRos ├── LICENSE ├── catkin_simple │ ├── CMakeLists.txt │ ├── README.md │ ├── cmake │ │ └── catkin_simple-extras.cmake.em │ └── package.xml ├── decomp_ros_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── Ellipsoid.msg │ │ ├── EllipsoidArray.msg │ │ ├── Polyhedron.msg │ │ └── PolyhedronArray.msg │ └── package.xml └── decomp_ros_utils │ ├── CMakeLists.txt │ ├── icons │ └── classes │ │ ├── EllipsoidArray.png │ │ └── PolyhedronArray.png │ ├── include │ ├── decomp_basis │ │ ├── data_type.h │ │ └── data_utils.h │ ├── decomp_geometry │ │ ├── ellipsoid.h │ │ ├── geometric_utils.h │ │ └── polyhedron.h │ ├── decomp_ros_utils │ │ └── data_ros_utils.h │ └── decomp_util │ │ ├── decomp_base.h │ │ ├── ellipsoid_decomp.h │ │ ├── iterative_decomp.h │ │ ├── line_segment.h │ │ └── seed_decomp.h │ ├── package.xml │ ├── plugin_description.xml │ └── src │ ├── bound_visual.cpp │ ├── bound_visual.h │ ├── ellipsoid_array_display.cpp │ ├── ellipsoid_array_display.h │ ├── ellipsoid_array_visual.cpp │ ├── ellipsoid_array_visual.h │ ├── mesh_visual.cpp │ ├── mesh_visual.h │ ├── polyhedron_array_display.cpp │ ├── polyhedron_array_display.h │ ├── vector_visual.cpp │ └── vector_visual.h ├── map_generator ├── CMakeLists.txt ├── config │ └── map.pcd ├── launch │ └── map_generator.launch ├── package.xml └── src │ └── map_generator_node.cpp ├── quadrotor_msgs ├── CMakeLists.txt ├── include │ └── quadrotor_msgs │ │ ├── comm_types.h │ │ ├── decode_msgs.h │ │ └── encode_msgs.h ├── msg │ ├── AuxCommand.msg │ ├── Bspline.msg │ ├── Corrections.msg │ ├── Gains.msg │ ├── Odometry.msg │ ├── OptimalTimeAllocator.msg │ ├── OutputData.msg │ ├── PPROutputData.msg │ ├── PolynomialTrajectory.msg │ ├── PositionCommand.msg │ ├── PositionCommand_back.msg │ ├── Replan.msg │ ├── ReplanCheck.msg │ ├── SO3Command.msg │ ├── Serial.msg │ ├── SpatialTemporalTrajectory.msg │ ├── StatusData.msg │ ├── SwarmCommand.msg │ ├── SwarmInfo.msg │ ├── SwarmOdometry.msg │ ├── TRPYCommand.msg │ └── TrajectoryMatrix.msg ├── package.xml └── src │ ├── decode_msgs.cpp │ ├── encode_msgs.cpp │ └── quadrotor_msgs │ ├── __init__.py │ ├── __init__.pyc │ └── msg │ ├── _AuxCommand.py │ ├── _Corrections.py │ ├── _Gains.py │ ├── _OutputData.py │ ├── _PPROutputData.py │ ├── _PositionCommand.py │ ├── _SO3Command.py │ ├── _Serial.py │ ├── _StatusData.py │ ├── _TRPYCommand.py │ └── __init__.py ├── so3_controller ├── CMakeLists.txt ├── include │ └── so3_controller │ │ └── so3_controller.hpp ├── nodelet_plugin.xml ├── package.xml └── src │ └── so3_controller_nodelet.cpp ├── so3_quadrotor ├── CMakeLists.txt ├── include │ └── so3_quadrotor │ │ ├── geometry_utils.hpp │ │ └── quadrotor_dynamics.hpp ├── nodelet_plugin.xml ├── package.xml └── src │ └── so3_quadrotor_nodelet.cpp └── uav_simulator ├── CMakeLists.txt ├── config ├── 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