├── DoubleInvertedPendulum ├── NMPC_Problem_Formulation.m ├── Simu_Matlab.m ├── Simu_Matlab_Codegen.m ├── Simu_Simulink.slx ├── Simu_Simulink_Setup.m └── Timer.m ├── LICENSE ├── ParNMPC ├── @DynamicSystem │ ├── DynamicSystem.m │ ├── SIM_GEN_f_FuncGen.m │ ├── codeGen.m │ ├── enableM.m │ ├── setInputName.m │ ├── setM.m │ ├── setParameterName.m │ ├── setStateName.m │ ├── setf.m │ └── showInfo.m ├── @NMPCSolver │ ├── NMPCSolver.m │ ├── codeGen.m │ ├── setDescentRegularization.m │ ├── setHessianApproximation.m │ ├── setInvFxMethod.m │ ├── setNonsingularRegularization.m │ └── showInfo.m ├── @OptimalControlProblem │ ├── OCP_GEN_C_Cu_Cx_FuncGen.m │ ├── OCP_GEN_C_FuncGen.m │ ├── OCP_GEN_fdt_FuncGen.m │ ├── OCP_GEN_fdt_fudt_fxdt_FuncGen.m │ ├── OptimalControlProblem.m │ ├── codeGen.asv │ ├── codeGen.m │ ├── createNonemptySolution_FuncGen.m │ ├── setC.m │ ├── setDiscretizationMethod.m │ ├── setG.m │ ├── setInputName.m │ ├── setL.m │ ├── setM.m │ ├── setParameterName.m │ ├── setStateName.m │ ├── setT.m │ ├── setf.m │ └── showInfo.m ├── KKT_error_func.m ├── NMPC_KKTError.m ├── NMPC_LineSearch_Filter.m ├── NMPC_LineSearch_Filter_PairEval.m ├── NMPC_LineSearch_Merit.m ├── NMPC_LineSearch_Merit_MeritEval.m ├── NMPC_Solve.m ├── NMPC_SolveOffline.m ├── NMPC_Solve_CodeGen.m ├── NMPC_Solve_SearchDirection.m ├── OCP_Auu_Aux_Axx_Condensed.m ├── OCP_C.m ├── OCP_C_Cu_Cx.m ├── OCP_F.m ├── OCP_F_Fu_Fx.m ├── OCP_G.m ├── OCP_L.m ├── OCP_LB.m ├── OCP_LB_LBu_LBx.m ├── OCP_LBuu_LBux_LBxx_Estimate.m ├── OCP_L_Lu_Lx.m ├── SIM_Plant_RK4.m ├── Wrapper │ ├── C_Cu_Cx_Wrapper.m │ ├── C_Wrapper.m │ ├── fSim_Wrapper.m │ ├── f_Wrapper.m │ └── f_fu_fx_Wrapper.m ├── checkFeasibility.m ├── checkOptions.m ├── coarse_update_func.m ├── createOptions.m ├── createOutput.m ├── createSolution.m └── fraction_to_boundary_parallel_func.m ├── Quadrotor ├── NMPC_Problem_Formulation.m ├── Simu_Matlab.m ├── Simu_Matlab_Codegen.m ├── Simu_Simulink.slx ├── Simu_Simulink_Setup.m └── Timer.m ├── README.md ├── RobotManipulator ├── CMakeLists.txt ├── NMPC_Problem_Formulation.m ├── README.md ├── Simu_Matlab.m ├── Simu_Matlab_Codegen.m ├── Timer.m ├── fSim_Wrapper.m ├── f_Wrapper.m ├── f_fu_fx_Wrapper.m ├── iiwa_description │ └── iiwa14.urdf └── iiwa_pinocchio │ ├── iiwa.cpp │ ├── iiwa14.h │ └── tmwtypes.h ├── SemiActiveDamper ├── NMPC_Problem_Formulation.m ├── Simu_Matlab.m ├── Simu_Matlab_Codegen.m ├── Simu_Simulink.slx ├── Simu_Simulink_Setup.m └── Timer.m ├── Vehicle ├── NMPC_Problem_Formulation.m ├── Simu_Matlab.m ├── Simu_Matlab_Codegen.m ├── Simu_Simulink.slx ├── Simu_Simulink_Setup.m ├── Timer.m ├── circle.m └── plot_res.m └── docs ├── 404.html ├── P_F_D.png ├── P_F_D_exp.png ├── about └── index.html ├── assets ├── fonts │ ├── font-awesome.css │ ├── material-icons.css │ └── specimen │ │ ├── FontAwesome.ttf │ │ ├── FontAwesome.woff │ │ ├── FontAwesome.woff2 │ │ ├── MaterialIcons-Regular.ttf │ │ ├── MaterialIcons-Regular.woff │ │ └── MaterialIcons-Regular.woff2 ├── images │ ├── favicon.png │ └── icons │ │ ├── bitbucket.1b09e088.svg │ │ ├── github.f0b8504a.svg │ │ └── gitlab.6dd19c00.svg ├── javascripts │ ├── application.808e90bb.js │ ├── lunr │ │ ├── lunr.ar.js │ │ ├── lunr.da.js │ │ ├── lunr.de.js │ │ ├── lunr.du.js │ │ ├── lunr.es.js │ │ ├── lunr.fi.js │ │ ├── lunr.fr.js │ │ ├── lunr.hu.js │ │ ├── lunr.it.js │ │ ├── lunr.ja.js │ │ ├── lunr.jp.js │ │ ├── lunr.multi.js │ │ ├── lunr.nl.js │ │ ├── lunr.no.js │ │ ├── lunr.pt.js │ │ ├── lunr.ro.js │ │ ├── lunr.ru.js │ │ ├── lunr.stemmer.support.js │ │ ├── lunr.sv.js │ │ ├── lunr.th.js │ │ ├── lunr.tr.js │ │ ├── lunr.vi.js │ │ ├── tinyseg.js │ │ └── wordcut.js │ └── modernizr.268332fc.js └── stylesheets │ ├── application-palette.a8b3c06d.css │ └── application.1b62728e.css ├── damper.png ├── dipc.png ├── exp_damper └── index.html ├── exp_double_pendulum └── index.html ├── exp_heli └── index.html ├── exp_quadrotor └── index.html ├── exp_vehicle └── index.html ├── heli.png ├── heli_comment.png ├── heli_res_1.png ├── heli_res_2.png ├── 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