├── .gitignore ├── .gitmodules ├── .travis.yml ├── LICENSE ├── Makefile ├── Makefile.rule ├── README.md ├── benchmark ├── .gitignore ├── common │ ├── benchmark_exists.m │ ├── discretize_model.m │ ├── extract_param_value.m │ ├── import_benchmark.m │ ├── integrate_RK4.m │ ├── linearize_model.m │ └── simulate_model.m ├── crane │ ├── default_params_crane.m │ ├── dynamics_crane.m │ ├── initialize_crane.m │ └── source.txt ├── linear_chain │ ├── default_params_linear_chain.m │ ├── initialize_linear_chain.m │ └── source.txt ├── quadcopter │ ├── default_params_quadcopter.m │ ├── dynamics_quadcopter_mpc.m │ ├── dynamics_quadcopter_sim.m │ ├── initialize_quadcopter.m │ ├── myeul2quat.m │ ├── myquat2eul.m │ └── source.txt ├── treeqp_main.m ├── treeqp_performance_plot.m └── utils │ ├── build_trajectories_from_trees.m │ ├── check_error_in_trajectories.m │ ├── get_number_of_nodes.m │ ├── is_leaf.m │ ├── is_not_leaf.m │ ├── number_of_active_constraints.m │ ├── perf.m │ ├── setup_quadprog.m │ ├── setup_tree.m │ ├── solve_trees_quadprog.m │ ├── treeqp_compile.m │ └── treeqp_solve.m ├── cpplint.py ├── examples ├── Makefile ├── fault_tolerance.c ├── fault_tolerance_utils │ ├── .gitignore │ ├── README.txt │ ├── load_data.c │ └── load_data.h ├── random_qp.c ├── random_qp_utils │ ├── code_generate_json.m │ ├── code_generate_tree.m │ ├── code_generate_tree_from_json.m │ ├── data.c │ ├── data.json │ ├── data00.c │ ├── data00.json │ ├── data01.c │ ├── data01.json │ ├── data02.c │ ├── data02.json │ ├── data03.c │ ├── data03.json │ ├── data04.c │ ├── data04.json │ ├── data05.c │ ├── data05.json │ ├── generate_random_tree.m │ ├── simple_tree.m │ └── solve_tree_with_yalmip.m ├── solve_qp_json.cpp ├── spring_mass.c ├── spring_mass_debug.c ├── spring_mass_dual_newton_scenarios.c ├── spring_mass_dual_newton_tree.c ├── spring_mass_utils │ ├── .gitignore │ ├── data.c │ ├── lambda0_scen.txt │ ├── lambda0_tree.txt │ ├── mu0_scen.txt │ └── x0.txt ├── thesis_example.c └── thesis_example_cpp_interface.cpp ├── interfaces └── treeqp_cpp │ ├── Makefile │ ├── treeqp_cpp_interface.cpp │ └── treeqp_cpp_interface.hpp └── treeqp ├── src ├── Makefile ├── dual_Newton_common.c ├── dual_Newton_common.h ├── dual_Newton_scenarios.c ├── dual_Newton_scenarios.h ├── dual_Newton_tree.c ├── dual_Newton_tree.h ├── dual_Newton_tree_clipping.c ├── dual_Newton_tree_clipping.h ├── dual_Newton_tree_qpoases.c ├── dual_Newton_tree_qpoases.h ├── hpipm_tree.c ├── hpipm_tree.h ├── hpmpc_tree.c ├── hpmpc_tree.h ├── tree_qp_common.c └── tree_qp_common.h └── utils ├── Makefile ├── blasfeo.c ├── blasfeo.h ├── memory.c ├── memory.h ├── print.c ├── print.h ├── profiling.c ├── profiling.h ├── timing.c ├── timing.h ├── tree.c ├── tree.h ├── types.h ├── utils.c └── utils.h /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dkouzoup/treeQP/HEAD/.gitignore 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