├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake ├── FindIpopt.cmake ├── FindMujoco.cmake ├── FindRangev3.cmake ├── LocalProperties.cmake.sample └── Rangev3.cmake.in ├── graph.png ├── include └── trajectoryOptimization │ ├── constraint.hpp │ ├── cost.hpp │ ├── derivative.hpp │ ├── dynamic.hpp │ ├── optimizer.hpp │ └── utilities.hpp ├── python ├── adolc_appro.py ├── block_main.py ├── block_main_final_adolc.py ├── car_pole_main.py ├── constraint.py ├── cost.py ├── dynamics.py ├── sparse_jacobi_matrix.py ├── using_pyadolc_with_pyipopt.py ├── util.py └── visualization.py ├── setup.sh ├── src └── trajectoryOptimizationMain.cpp ├── test ├── CMakeLists.txt ├── cmake │ ├── FindGoogleTest.cmake │ └── GoogleTest.cmake.in └── src │ ├── constraintTest.cpp │ ├── costTest.cpp │ ├── derivativeTest.cpp │ ├── dynamicTest.cpp │ ├── optimizerTest.cpp │ └── utilitiesTest.cpp └── trajectory.png /.gitignore: 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