├── .github └── workflows │ ├── PR_TEMPLATE │ └── pull_request_template.md │ └── build.yaml ├── .gitignore ├── CMakeLists.txt ├── Dockerfile ├── LICENSE ├── README.md ├── docs └── assets │ └── cddp_in_cpp.png ├── examples ├── CMakeLists.txt ├── acado_car.cpp ├── cddp_acrobot.cpp ├── cddp_bicycle.cpp ├── cddp_car.cpp ├── cddp_car_ipddp.cpp ├── cddp_cartpole.cpp ├── cddp_forklift_ipddp.cpp ├── cddp_hcw.cpp ├── cddp_lti_system.cpp ├── cddp_manipulator.cpp ├── cddp_neural_pendulum.cpp ├── cddp_pendulum.cpp ├── cddp_quadrotor_circle.cpp ├── cddp_quadrotor_figure_eight_horizontal.cpp ├── cddp_quadrotor_figure_eight_horizontal_safe.cpp ├── cddp_quadrotor_figure_eight_vertical.cpp ├── cddp_quadrotor_point.cpp ├── cddp_spacecraft_linear_docking.cpp ├── cddp_spacecraft_linear_rpo.cpp ├── cddp_spacecraft_nonlinear_rpo.cpp ├── cddp_spacecraft_roe_rpo.cpp ├── cddp_spacecraft_rpo.cpp ├── cddp_spacecraft_rpo_fuel.cpp ├── cddp_spacecraft_rpo_mc.cpp ├── cddp_unicycle.cpp ├── cddp_unicycle_mpc.cpp ├── cddp_unicycle_safe.cpp ├── cddp_unicycle_safe_comparison.cpp ├── cddp_unicycle_safe_ipddp.cpp ├── cddp_unicycle_safe_ipddp_v2.cpp ├── cddp_unicycle_safe_ipddp_v3.cpp ├── generate_quadrotor_acados.py ├── generate_unicycle_acados.py ├── hessian_example.cpp ├── ipopt_car.cpp ├── ipopt_cartpole.cpp ├── ipopt_quadrotor.cpp ├── ipopt_spacecraft_linear.ipynb ├── ipopt_spacecraft_linear_fuel.ipynb ├── ipopt_spacecrat_linear_fuel.cpp ├── ipopt_spacecrat_rpo.cpp ├── ipopt_unicycle.cpp ├── mpc_hcw.cpp ├── neural_dynamics │ ├── data │ │ ├── pendulum_dataset.csv │ │ └── pendulum_dataset.png │ ├── neural_models │ │ ├── pendulum_compare.png │ │ ├── pendulum_model.pt │ │ └── training_loss.png │ ├── prepare_cartpole.cpp │ ├── prepare_pendulum.cpp │ ├── run_cartpole.cpp │ ├── run_pendulum.cpp │ ├── train_cartpole.cpp │ ├── train_pendulum.cpp │ └── train_pendulum.ipynb ├── quadrotor_benchmark.cpp ├── snopt_unicycle.cpp ├── sqp_car.cpp ├── sqp_cartpole.cpp ├── sqp_unicycle.cpp ├── test_barrier_strategies.cpp └── unicycle_benchmark.cpp ├── include └── cddp-cpp │ ├── cddp.hpp │ ├── cddp_core │ ├── alddp_solver.hpp │ ├── asddp_solver.hpp │ ├── barrier.hpp │ ├── boxqp.hpp │ ├── cddp_core.hpp │ ├── clddp_solver.hpp │ ├── constraint.hpp │ ├── dbas_ddp_solver.hpp │ ├── dynamical_system.hpp │ ├── helper.hpp │ ├── ipddp_solver.hpp │ ├── logddp_solver.hpp │ ├── msipddp_solver.hpp │ ├── neural_dynamical_system.hpp │ ├── objective.hpp │ ├── options.hpp │ ├── qp_solver.hpp │ └── terminal_constraint.hpp │ ├── dynamics_model │ ├── acrobot.hpp │ ├── bicycle.hpp │ ├── car.hpp │ ├── cartpole.hpp │ ├── dreyfus_rocket.hpp │ ├── dubins_car.hpp │ ├── euler_attitude.hpp │ ├── forklift.hpp │ ├── lti_system.hpp │ ├── manipulator.hpp │ ├── mrp_attitude.hpp │ ├── pendulum.hpp │ ├── quadrotor.hpp │ ├── quadrotor_rate.hpp │ ├── quaternion_attitude.hpp │ ├── spacecraft_landing2d.hpp │ ├── spacecraft_linear.hpp │ ├── spacecraft_linear_fuel.hpp │ ├── spacecraft_nonlinear.hpp │ ├── spacecraft_roe.hpp │ ├── spacecraft_twobody.hpp │ ├── unicycle.hpp │ └── usv_3dof.hpp │ └── sqp_core │ └── sqp_core.hpp ├── results ├── acrobot │ └── acrobot.gif ├── animations │ ├── car_parking.gif │ ├── car_parking_acado.gif │ └── car_parking_ipopt.gif ├── benchmark │ ├── quadrotor_computation_time_comparison.png │ ├── quadrotor_lemniscate_3d_comparison.png │ ├── unicycle_baseline_trajectories_comparison.png │ └── unicycle_computation_time_comparison.png ├── simulations │ ├── hcw_mpc_cddp_controls.png │ ├── hcw_mpc_cddp_trajectories.png │ ├── hcw_mpc_cddp_xaxis_trajectories.png │ └── hcw_mpc_cddp_yaxis_trajectories.png └── tests │ ├── bicycle.gif │ ├── bicycle_cddp_results.png │ ├── car_parking.gif │ ├── car_parking_ipddp.gif │ ├── car_parking_ipopt.gif │ ├── cartpole.gif │ ├── cartpole_control_inputs.png │ ├── cartpole_ipopt.gif │ ├── cartpole_results.png │ ├── docking_trajectory.png │ ├── docking_trajectory_xy.png │ ├── dubincs_car_cddp_test.png │ ├── dubincs_car_clcddp_test.png │ ├── dubincs_car_ipddp_test.png │ ├── dubincs_car_logcddp_test.png │ ├── dubins_car.gif │ ├── dubins_car_sqp_test.png │ ├── forklift_parking_ipddp.gif │ ├── hcw_control_history.png │ ├── hcw_control_inputs.png │ ├── hcw_results.png │ ├── hcw_state_history.png │ ├── lti_states.png │ ├── manipulator.gif │ ├── manipulator_cddp_results.png │ ├── manipulator_pose.png │ ├── pendulum.gif │ ├── pendulum_cddp_test.png │ ├── quadrotor_circle.gif │ ├── quadrotor_circle_3d.png │ ├── quadrotor_circle_history.png │ ├── quadrotor_circle_states.png │ ├── quadrotor_discrete_dynamics.png │ ├── quadrotor_figure_eight_horizontal.gif │ ├── quadrotor_figure_eight_horizontal_3d.png │ ├── quadrotor_figure_eight_horizontal_safe_3d.png │ ├── quadrotor_figure_eight_horizontal_safe_states.png │ ├── quadrotor_figure_eight_horizontal_states.png │ ├── quadrotor_figure_eight_vertical.gif │ ├── quadrotor_figure_eight_vertical_3d.png │ ├── quadrotor_figure_eight_vertical_states.png │ ├── quadrotor_figure_eight_xy.png │ ├── quadrotor_figure_eight_xz.png │ ├── quadrotor_point.gif │ ├── quadrotor_point_3d.png │ ├── quadrotor_point_history.png │ ├── quadrotor_point_states.png │ ├── trajectory_comparison_ipddp.png │ ├── trajectory_comparison_ipddp_matplot.png │ ├── trajectory_comparison_ipddp_v2.png │ ├── trajectory_comparison_ipddp_v2_matplot.png │ ├── trajectory_comparison_ipddp_v3_linear_matplot.png │ ├── trajectory_comparison_matplot.png │ ├── unicycle.gif │ ├── unicycle_ascddp_test.png │ ├── unicycle_cddp_results.png │ ├── unicycle_ipopt.gif │ ├── unicycle_ipopt_results.png │ ├── unicycle_safe.gif │ ├── unicycle_six_trajectories_comparison.png │ └── unicycle_trajectory_comparison.png ├── src ├── cddp_core │ ├── alddp_solver.cpp │ ├── asddp_solver.cpp │ ├── boxqp.cpp │ ├── cddp_core.cpp │ ├── clddp_solver.cpp │ ├── constraint.cpp │ ├── dbas_ddp_solver.cpp │ ├── dynamical_system.cpp │ ├── helper.cpp │ ├── ipddp_solver.cpp │ ├── logddp_solver.cpp │ ├── msipddp_solver.cpp │ ├── neural_dynamical_system.cpp │ ├── objective.cpp │ └── qp_solver.cpp ├── dynamics_model │ ├── acrobot.cpp │ ├── bicycle.cpp │ ├── car.cpp │ ├── cartpole.cpp │ ├── dreyfus_rocket.cpp │ ├── dubins_car.cpp │ ├── euler_attitude.cpp │ ├── forklift.cpp │ ├── lti_system.cpp │ ├── manipulator.cpp │ ├── mrp_attitude.cpp │ ├── pendulum.cpp │ ├── quadrotor.cpp │ ├── quadrotor_rate.cpp │ ├── quaternion_attitude.cpp │ ├── spacecraft_landing2d.cpp │ ├── spacecraft_linear.cpp │ ├── spacecraft_linear_fuel.cpp │ ├── spacecraft_nonlinear.cpp │ ├── spacecraft_roe.cpp │ ├── spacecraft_twobody.cpp │ ├── unicycle.cpp │ └── usv_3dof.cpp └── sqp_core │ └── sqp_core.cpp └── tests ├── CMakeLists.txt ├── cddp_core ├── test_alddp_solver.cpp ├── test_asddp_core.cpp ├── test_asddp_solver.cpp ├── test_boxqp.cpp ├── test_cddp_core.cpp ├── test_clddp_solver.cpp ├── test_constraint.cpp ├── test_finite_difference.cpp ├── test_ipddp_core.cpp ├── test_ipddp_solver.cpp ├── test_logddp_solver.cpp ├── test_msipddp_core.cpp ├── test_msipddp_solver.cpp └── test_objective.cpp ├── dynamics_model ├── test_acrobot.cpp ├── test_attitude_dynamics.cpp ├── test_bicycle.cpp ├── test_car.cpp ├── test_cartpole.cpp ├── test_dreyfus_rocket.cpp ├── test_dubins_car.cpp ├── test_forklift.cpp ├── test_lti_system.cpp ├── test_manipulator.cpp ├── test_mrp_attitude.cpp ├── test_neural_pendulum.cpp ├── test_pendulum.cpp ├── test_quadrotor.cpp ├── test_quadrotor_rate.cpp ├── test_spacecraft_landing2d.cpp ├── test_spacecraft_linear.cpp ├── test_spacecraft_linear_fuel.cpp ├── test_spacecraft_nonlinear.cpp ├── test_spacecraft_roe.cpp ├── test_unicycle.cpp └── test_usv_3dof.cpp ├── sqp_core ├── test_sqp.cpp └── test_sqp_core.cpp ├── test_animation.cpp ├── test_autodiff.cpp ├── test_casadi_solver.cpp ├── test_eigen.cpp ├── test_gurobi.cpp ├── test_hessian.cpp ├── test_ipddp_car.cpp ├── test_ipddp_pendulum.cpp ├── test_ipddp_quadrotor.cpp ├── test_matplot.cpp ├── test_msipddp_car.cpp ├── test_qp_solvers.cpp └── test_torch.cpp 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